2025-10-27T14:54:44.626Z,1761576884.626 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-10-27T14:54:44.626Z,1761576884.626 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-10-27T14:54:44.647Z,1761576884.647 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-10-27T14:54:44.647Z,1761576884.647 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-10-27T14:54:44.705Z,1761576884.705 [CommandExec](IMPORTANT): got command restart logs
2025-10-27T14:54:44.760Z,1761576884.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:45.002Z,1761576885.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016940,0.995994,0.087804],[-0.999390,0.019549,-0.028939],[-0.030540,-0.087260,0.995717]]
2025-10-27T14:54:45.012Z,1761576885.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:45.069Z,1761576885.069 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-10-27T14:54:45.069Z,1761576885.069 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-10-27T14:54:45.264Z,1761576885.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:45.516Z,1761576885.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:45.768Z,1761576885.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:45.842Z,1761576885.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042994,0.998249,0.040620],[-0.998375,0.041406,0.039158],[0.037408,-0.042237,0.998407]]
2025-10-27T14:54:46.020Z,1761576886.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:46.214Z,1761576886.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030694,0.999448,-0.012692],[-0.999008,0.031085,0.031891],[0.032268,0.011701,0.999411]]
2025-10-27T14:54:46.272Z,1761576886.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:46.524Z,1761576886.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:46.618Z,1761576886.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025747,0.999665,-0.002779],[-0.999371,0.025807,0.024330],[0.024394,0.002151,0.999700]]
2025-10-27T14:54:46.777Z,1761576886.777 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:47.022Z,1761576887.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032650,0.995827,0.085222],[-0.999199,0.034497,-0.020285],[-0.023141,-0.084492,0.996155]]
2025-10-27T14:54:47.028Z,1761576887.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:47.280Z,1761576887.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:47.426Z,1761576887.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036655,0.987304,0.154556],[-0.999325,0.035850,0.007989],[0.002347,-0.154744,0.987952]]
2025-10-27T14:54:47.532Z,1761576887.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:47.786Z,1761576887.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:47.845Z,1761576887.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030203,0.984172,0.174624],[-0.994862,0.012709,0.100440],[0.096631,-0.176760,0.979499]]
2025-10-27T14:54:48.036Z,1761576888.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:48.288Z,1761576888.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:48.540Z,1761576888.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:48.658Z,1761576888.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039771,0.997119,0.064595],[-0.998878,0.038011,0.028244],[0.025707,-0.065646,0.997512]]
2025-10-27T14:54:48.792Z,1761576888.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:49.044Z,1761576889.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:49.296Z,1761576889.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:49.367Z,1761576889.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000200,0.999511,0.031257],[-0.995784,-0.003067,0.091675],[0.091726,-0.031107,0.995298]]
2025-10-27T14:54:49.548Z,1761576889.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:49.802Z,1761576889.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:50.052Z,1761576890.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:50.194Z,1761576890.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037734,0.986667,0.158315],[-0.997984,0.029119,0.056388],[0.051026,-0.160124,0.985777]]
2025-10-27T14:54:50.305Z,1761576890.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:50.556Z,1761576890.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:50.592Z,1761576890.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007947,0.985990,0.166615],[-0.999296,0.001719,0.037489],[0.036678,-0.166796,0.985309]]
2025-10-27T14:54:50.808Z,1761576890.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:50.996Z,1761576890.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010263,0.977352,0.211371],[-0.997307,-0.005345,0.073138],[0.072612,-0.211553,0.974666]]
2025-10-27T14:54:51.005Z,1761576891.005 [NAL9602](INFO): SBD MO Status=0, MOMSN=3053, MT Status=0, MTMSN=0
2025-10-27T14:54:51.006Z,1761576891.006 [NAL9602](INFO): No messages in MT queue
2025-10-27T14:54:51.060Z,1761576891.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:51.312Z,1761576891.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:51.411Z,1761576891.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076369,0.978774,0.190183],[-0.989075,0.050243,0.138590],[0.126093,-0.198689,0.971917]]
2025-10-27T14:54:51.564Z,1761576891.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:51.818Z,1761576891.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:52.068Z,1761576892.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:52.250Z,1761576892.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081719,0.995063,0.056308],[-0.994524,0.077722,0.069860],[0.065139,-0.061709,0.995966]]
2025-10-27T14:54:52.320Z,1761576892.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:52.409Z,1761576892.409 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:54:52.572Z,1761576892.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:52.660Z,1761576892.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055312,0.988592,0.140094],[-0.994925,0.066381,-0.075612],[-0.084049,-0.135201,0.987247]]
2025-10-27T14:54:52.824Z,1761576892.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:53.058Z,1761576893.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100874,0.983520,0.150045],[-0.986419,0.118519,-0.113710],[-0.129619,-0.136537,0.982118]]
2025-10-27T14:54:53.076Z,1761576893.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:53.328Z,1761576893.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:53.462Z,1761576893.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143571,0.983116,0.113444],[-0.986433,0.151383,-0.063501],[-0.079603,-0.102788,0.991513]]
2025-10-27T14:54:53.580Z,1761576893.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:53.834Z,1761576893.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:53.867Z,1761576893.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103187,0.987766,0.116918],[-0.994238,0.105861,-0.016874],[-0.029045,-0.114503,0.992998]]
2025-10-27T14:54:54.084Z,1761576894.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:54.270Z,1761576894.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046713,0.983524,0.174638],[-0.998904,0.045498,0.010956],[0.002830,-0.174958,0.984572]]
2025-10-27T14:54:54.336Z,1761576894.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:54.591Z,1761576894.591 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:54.674Z,1761576894.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038923,0.978108,0.204425],[-0.998110,0.028321,0.054535],[0.047552,-0.206161,0.977362]]
2025-10-27T14:54:54.841Z,1761576894.841 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:55.078Z,1761576895.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070569,0.983649,0.165697],[-0.996870,0.063611,0.046939],[0.035631,-0.168491,0.985059]]
2025-10-27T14:54:55.092Z,1761576895.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:55.344Z,1761576895.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:55.507Z,1761576895.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069354,0.991021,0.114315],[-0.997590,0.069135,0.005887],[-0.002069,-0.114448,0.993427]]
2025-10-27T14:54:55.596Z,1761576895.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:55.848Z,1761576895.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:55.974Z,1761576895.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036397,0.995720,0.084949],[-0.994116,0.027398,0.104795],[0.102020,-0.088263,0.990859]]
2025-10-27T14:54:56.100Z,1761576896.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:56.352Z,1761576896.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:56.378Z,1761576896.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050934,0.994704,0.089272],[-0.988705,0.037606,0.145083],[0.140958,-0.095653,0.985384]]
2025-10-27T14:54:56.604Z,1761576896.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:56.856Z,1761576896.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:57.108Z,1761576897.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:57.186Z,1761576897.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042982,0.987053,0.154531],[-0.998862,0.039256,0.027082],[0.020665,-0.155519,0.987617]]
2025-10-27T14:54:57.360Z,1761576897.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:57.590Z,1761576897.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082853,0.986772,0.139345],[-0.995883,0.076822,0.048126],[0.036785,-0.142759,0.989074]]
2025-10-27T14:54:57.612Z,1761576897.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:57.864Z,1761576897.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:58.117Z,1761576898.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:58.368Z,1761576898.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:58.402Z,1761576898.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030290,0.988243,0.149864],[-0.999391,0.027341,0.021697],[0.017345,-0.150430,0.988469]]
2025-10-27T14:54:58.621Z,1761576898.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:58.872Z,1761576898.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:59.124Z,1761576899.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:59.216Z,1761576899.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033194,0.988228,0.149347],[-0.998137,0.025124,0.055607],[0.051200,-0.150914,0.987220]]
2025-10-27T14:54:59.376Z,1761576899.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:59.618Z,1761576899.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049554,0.992625,0.110630],[-0.997409,0.043398,0.057376],[0.052152,-0.113187,0.992204]]
2025-10-27T14:54:59.628Z,1761576899.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:54:59.880Z,1761576899.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:00.017Z,1761576900.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095277,0.994182,0.050246],[-0.995031,0.093649,0.033818],[0.028916,-0.053219,0.998164]]
2025-10-27T14:55:00.134Z,1761576900.134 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:00.384Z,1761576900.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:00.422Z,1761576900.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083075,0.995604,0.043253],[-0.995201,0.080632,0.055448],[0.051717,-0.047651,0.997524]]
2025-10-27T14:55:00.641Z,1761576900.641 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:00.826Z,1761576900.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027118,0.995722,0.088326],[-0.996918,0.020432,0.075743],[0.073614,-0.090107,0.993208]]
2025-10-27T14:55:00.888Z,1761576900.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:01.140Z,1761576901.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:01.259Z,1761576901.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015018,0.988908,0.147768],[-0.996336,-0.027245,0.081073],[0.084200,-0.146009,0.985694]]
2025-10-27T14:55:01.395Z,1761576901.395 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:01.644Z,1761576901.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:01.897Z,1761576901.897 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:02.050Z,1761576902.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013223,0.984372,0.175603],[-0.998823,-0.021199,0.043624],[0.046665,-0.174820,0.983494]]
2025-10-27T14:55:02.148Z,1761576902.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:02.400Z,1761576902.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:02.454Z,1761576902.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009824,0.988031,0.153944],[-0.996700,-0.002731,0.081130],[0.080579,-0.154233,0.984743]]
2025-10-27T14:55:02.652Z,1761576902.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:02.858Z,1761576902.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019232,0.994092,0.106821],[-0.991554,0.005258,0.129590],[0.128263,-0.108411,0.985797]]
2025-10-27T14:55:02.904Z,1761576902.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:03.156Z,1761576903.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:03.262Z,1761576903.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051078,0.995571,0.078930],[-0.988063,-0.061877,0.141076],[0.145335,-0.070782,0.986847]]
2025-10-27T14:55:03.408Z,1761576903.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:03.660Z,1761576903.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:03.776Z,1761576903.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084050,0.983769,0.158539],[-0.979714,-0.110632,0.167094],[0.181922,-0.141278,0.973111]]
2025-10-27T14:55:03.912Z,1761576903.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:04.164Z,1761576904.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:04.416Z,1761576904.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:04.668Z,1761576904.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:04.920Z,1761576904.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:04.962Z,1761576904.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040977,0.995189,0.088988],[-0.995977,-0.047788,0.075802],[0.079690,-0.085524,0.993144]]
2025-10-27T14:55:05.176Z,1761576905.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:05.366Z,1761576905.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054670,0.997285,0.049338],[-0.998266,-0.055671,0.019144],[0.021839,-0.048206,0.998599]]
2025-10-27T14:55:05.428Z,1761576905.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:05.680Z,1761576905.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:05.782Z,1761576905.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042392,0.998488,0.034986],[-0.999047,-0.041997,-0.011933],[-0.010446,-0.035458,0.999317]]
2025-10-27T14:55:05.816Z,1761576905.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:55:05.932Z,1761576905.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:06.192Z,1761576906.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:06.444Z,1761576906.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:06.583Z,1761576906.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014749,0.993396,0.113782],[-0.998986,0.009799,0.043942],[0.042537,-0.114314,0.992534]]
2025-10-27T14:55:06.701Z,1761576906.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:06.952Z,1761576906.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:07.204Z,1761576907.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:07.382Z,1761576907.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007006,0.996162,0.087244],[-0.996641,-0.000164,0.081896],[0.081596,-0.087525,0.992815]]
2025-10-27T14:55:07.456Z,1761576907.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:07.708Z,1761576907.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:07.960Z,1761576907.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:08.212Z,1761576908.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:08.378Z,1761576908.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034113,0.984842,0.170064],[-0.999412,0.034184,0.002512],[-0.003339,-0.170050,0.985430]]
2025-10-27T14:55:08.464Z,1761576908.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:08.716Z,1761576908.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:08.782Z,1761576908.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014399,0.982201,0.187282],[-0.999892,0.014703,-0.000237],[-0.002987,-0.187259,0.982306]]
2025-10-27T14:55:08.968Z,1761576908.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:09.186Z,1761576909.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001571,0.983638,0.180150],[-0.999975,-0.000297,-0.007095],[-0.006925,-0.180156,0.983614]]
2025-10-27T14:55:09.220Z,1761576909.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:09.472Z,1761576909.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:09.591Z,1761576909.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017835,0.988373,0.151000],[-0.998983,0.023870,-0.038249],[-0.041409,-0.150164,0.987794]]
2025-10-27T14:55:09.724Z,1761576909.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:09.977Z,1761576909.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:10.228Z,1761576910.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:10.480Z,1761576910.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:10.732Z,1761576910.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:10.862Z,1761576910.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028854,0.991206,0.129143],[-0.997745,-0.036392,0.056393],[0.060596,-0.127224,0.990021]]
2025-10-27T14:55:10.984Z,1761576910.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:11.236Z,1761576911.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:11.281Z,1761576911.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011667,0.988993,0.147502],[-0.994454,-0.026896,0.101674],[0.104522,-0.145498,0.983822]]
2025-10-27T14:55:11.488Z,1761576911.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:11.669Z,1761576911.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033488,0.988369,0.148342],[-0.990301,0.012790,0.138348],[0.134841,-0.151536,0.979211]]
2025-10-27T14:55:11.740Z,1761576911.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:11.992Z,1761576911.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:12.246Z,1761576912.246 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:12.483Z,1761576912.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009320,0.987111,0.159764],[-0.996961,-0.021531,0.074870],[0.077345,-0.158580,0.984312]]
2025-10-27T14:55:12.500Z,1761576912.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:12.753Z,1761576912.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:12.882Z,1761576912.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028400,0.985824,0.165362],[-0.999564,-0.029342,0.003254],[0.008060,-0.165197,0.986228]]
2025-10-27T14:55:12.903Z,1761576912.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:55:13.005Z,1761576913.005 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:13.256Z,1761576913.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:13.281Z,1761576913.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007690,0.987815,0.155441],[-0.997355,-0.003659,0.072592],[0.072277,-0.155588,0.985174]]
2025-10-27T14:55:13.508Z,1761576913.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:13.686Z,1761576913.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048806,0.995337,0.083205],[-0.987987,0.035880,0.150315],[0.146629,-0.089542,0.985131]]
2025-10-27T14:55:13.760Z,1761576913.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:14.012Z,1761576914.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:14.090Z,1761576914.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058000,0.998214,0.014327],[-0.989519,0.055582,0.133280],[0.132246,-0.021907,0.990975]]
2025-10-27T14:55:14.264Z,1761576914.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:14.502Z,1761576914.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047226,0.998768,0.015209],[-0.992305,0.045165,0.115288],[0.114459,-0.020537,0.993216]]
2025-10-27T14:55:14.516Z,1761576914.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:14.768Z,1761576914.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:14.898Z,1761576914.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028563,0.993065,0.114044],[-0.994553,0.016792,0.102872],[0.100243,-0.116361,0.988135]]
2025-10-27T14:55:15.020Z,1761576915.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:15.272Z,1761576915.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:15.302Z,1761576915.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061488,0.979541,0.191619],[-0.997345,0.052793,0.050162],[0.039020,-0.194195,0.980187]]
2025-10-27T14:55:15.524Z,1761576915.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:15.707Z,1761576915.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088624,0.982114,0.166126],[-0.995299,0.080775,0.053437],[0.039062,-0.170081,0.984656]]
2025-10-27T14:55:15.778Z,1761576915.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:15.836Z,1761576915.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:55:16.028Z,1761576916.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:16.280Z,1761576916.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:16.532Z,1761576916.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:16.785Z,1761576916.785 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:16.918Z,1761576916.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116173,0.984252,0.133239],[-0.979602,0.091398,0.178960],[0.163964,-0.151312,0.974793]]
2025-10-27T14:55:17.036Z,1761576917.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:17.288Z,1761576917.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:17.325Z,1761576917.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135326,0.976304,0.168872],[-0.985667,0.115327,0.123123],[0.100730,-0.183113,0.977918]]
2025-10-27T14:55:17.541Z,1761576917.541 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:17.732Z,1761576917.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147837,0.972572,0.179576],[-0.987416,0.134833,0.082646],[0.056166,-0.189534,0.980266]]
2025-10-27T14:55:17.794Z,1761576917.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:18.044Z,1761576918.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:18.296Z,1761576918.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:18.558Z,1761576918.558 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:18.580Z,1761576918.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161845,0.969024,0.186542],[-0.981285,0.138050,0.134244],[0.104334,-0.204778,0.973232]]
2025-10-27T14:55:18.812Z,1761576918.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:19.064Z,1761576919.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:19.316Z,1761576919.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:19.382Z,1761576919.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150825,0.953706,0.260187],[-0.980744,0.111324,0.160463],[0.124069,-0.279379,0.952131]]
2025-10-27T14:55:19.568Z,1761576919.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:19.822Z,1761576919.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:19.844Z,1761576919.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184491,0.981144,0.057611],[-0.974608,0.175064,0.139612],[0.126894,-0.081905,0.988529]]
2025-10-27T14:55:20.073Z,1761576920.073 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:20.324Z,1761576920.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:20.576Z,1761576920.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:20.623Z,1761576920.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176355,0.980628,0.085245],[-0.981270,0.168328,0.093671],[0.077508,-0.100168,0.991947]]
2025-10-27T14:55:20.828Z,1761576920.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:21.080Z,1761576921.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:21.334Z,1761576921.334 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:21.403Z,1761576921.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209900,0.973938,0.085945],[-0.972008,0.198375,0.125892],[0.105562,-0.109964,0.988314]]
2025-10-27T14:55:21.589Z,1761576921.589 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:21.840Z,1761576921.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:21.852Z,1761576921.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196006,0.978711,0.060886],[-0.967073,0.182650,0.177223],[0.162330,-0.093618,0.982285]]
2025-10-27T14:55:21.863Z,1761576921.863 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-27T14:55:22.092Z,1761576922.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:22.300Z,1761576922.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196529,0.977061,0.082030],[-0.959956,0.174701,0.219008],[0.199653,-0.121786,0.972269]]
2025-10-27T14:55:22.344Z,1761576922.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:22.597Z,1761576922.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:22.695Z,1761576922.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206966,0.975210,0.078297],[-0.952083,0.182345,0.245538],[0.225174,-0.125364,0.966220]]
2025-10-27T14:55:22.848Z,1761576922.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:23.100Z,1761576923.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:23.116Z,1761576923.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197532,0.974507,0.106383],[-0.960928,0.171020,0.217648],[0.193906,-0.145219,0.970212]]
2025-10-27T14:55:23.352Z,1761576923.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:23.502Z,1761576923.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197302,0.967308,0.159336],[-0.965064,0.163062,0.205092],[0.172405,-0.194234,0.965686]]
2025-10-27T14:55:23.604Z,1761576923.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:23.856Z,1761576923.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:23.906Z,1761576923.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205353,0.968536,0.140601],[-0.951889,0.164269,0.258695],[0.227459,-0.186960,0.955672]]
2025-10-27T14:55:24.109Z,1761576924.109 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:24.313Z,1761576924.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199730,0.974716,0.100187],[-0.942852,0.163349,0.290427],[0.266718,-0.152469,0.951638]]
2025-10-27T14:55:24.360Z,1761576924.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:24.612Z,1761576924.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:24.713Z,1761576924.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208916,0.975977,0.061840],[-0.940171,0.183044,0.287356],[0.269134,-0.118173,0.955825]]
2025-10-27T14:55:24.864Z,1761576924.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:25.116Z,1761576925.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:25.122Z,1761576925.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200884,0.979138,-0.030568],[-0.924440,0.199802,0.324791],[0.324123,-0.036987,0.945292]]
2025-10-27T14:55:25.368Z,1761576925.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:25.522Z,1761576925.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171710,0.984514,-0.035337],[-0.915013,0.172674,0.364602],[0.365057,-0.030272,0.930493]]
2025-10-27T14:55:25.620Z,1761576925.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:25.872Z,1761576925.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:25.930Z,1761576925.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169237,0.982450,0.078424],[-0.933520,0.134272,0.332432],[0.316068,-0.129470,0.939861]]
2025-10-27T14:55:25.931Z,1761576925.931 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:55:26.124Z,1761576926.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:26.330Z,1761576926.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189923,0.976964,0.097318],[-0.943011,0.153936,0.295014],[0.273238,-0.147803,0.950524]]
2025-10-27T14:55:26.376Z,1761576926.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:26.628Z,1761576926.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:26.741Z,1761576926.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203305,0.978571,0.032653],[-0.924420,0.180851,0.335770],[0.322669,-0.098449,0.941378]]
2025-10-27T14:55:26.880Z,1761576926.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:27.132Z,1761576927.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:27.143Z,1761576927.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146349,0.989185,-0.009733],[-0.900003,0.137225,0.413721],[0.410582,-0.051788,0.910352]]
2025-10-27T14:55:27.384Z,1761576927.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:27.542Z,1761576927.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114989,0.993288,0.012526],[-0.901017,0.098981,0.422340],[0.418265,-0.059850,0.906351]]
2025-10-27T14:55:27.636Z,1761576927.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:27.888Z,1761576927.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:27.967Z,1761576927.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097780,0.992475,0.073708],[-0.904985,0.057858,0.421490],[0.414054,-0.107918,0.903833]]
2025-10-27T14:55:28.140Z,1761576928.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:28.358Z,1761576928.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073782,0.985976,0.149689],[-0.880527,-0.006064,0.473956],[0.468217,-0.166775,0.867732]]
2025-10-27T14:55:28.392Z,1761576928.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:28.644Z,1761576928.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:28.765Z,1761576928.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052892,0.968522,0.243246],[-0.846479,-0.085746,0.525472],[0.529789,-0.233696,0.815298]]
2025-10-27T14:55:28.897Z,1761576928.897 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:29.148Z,1761576929.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:29.166Z,1761576929.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045020,0.953780,0.297114],[-0.824422,-0.132495,0.550248],[0.564182,-0.269719,0.780353]]
2025-10-27T14:55:29.402Z,1761576929.402 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:29.569Z,1761576929.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051012,0.942572,0.330085],[-0.819059,-0.149630,0.553853],[0.571436,-0.298612,0.764389]]
2025-10-27T14:55:29.652Z,1761576929.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:29.904Z,1761576929.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:30.156Z,1761576930.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:30.408Z,1761576930.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:30.411Z,1761576930.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079353,0.932778,0.351608],[-0.834027,-0.131065,0.535931],[0.545988,-0.335778,0.767561]]
2025-10-27T14:55:30.660Z,1761576930.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:30.810Z,1761576930.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097830,0.961851,0.255482],[-0.841313,-0.057201,0.537513],[0.531622,-0.267525,0.803622]]
2025-10-27T14:55:30.912Z,1761576930.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:31.164Z,1761576931.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:31.216Z,1761576931.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124979,0.984669,0.121684],[-0.851832,0.043611,0.521996],[0.508687,-0.168893,0.844223]]
2025-10-27T14:55:31.416Z,1761576931.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:31.618Z,1761576931.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135524,0.990773,-0.001113],[-0.846166,0.116328,0.520068],[0.515399,-0.069540,0.854124]]
2025-10-27T14:55:31.668Z,1761576931.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:31.920Z,1761576931.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:32.022Z,1761576932.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117048,0.990845,-0.067270],[-0.831716,0.134816,0.538584],[0.542723,-0.007091,0.839882]]
2025-10-27T14:55:32.172Z,1761576932.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:32.424Z,1761576932.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:32.429Z,1761576932.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093906,0.992853,-0.073659],[-0.819024,0.119104,0.561261],[0.566022,0.007623,0.824355]]
2025-10-27T14:55:32.677Z,1761576932.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:32.831Z,1761576932.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090953,0.995415,-0.029608],[-0.797151,0.090593,0.596945],[0.596890,-0.030692,0.801736]]
2025-10-27T14:55:32.928Z,1761576932.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:33.180Z,1761576933.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:33.234Z,1761576933.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091388,0.995789,0.007224],[-0.772217,0.066285,0.631892],[0.628752,-0.063326,0.775023]]
2025-10-27T14:55:33.433Z,1761576933.433 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:33.637Z,1761576933.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080821,0.996600,0.016038],[-0.757855,0.050993,0.650427],[0.647398,-0.064723,0.759399]]
2025-10-27T14:55:33.684Z,1761576933.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:33.936Z,1761576933.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:34.043Z,1761576934.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066906,0.996799,0.043763],[-0.751346,0.021474,0.659559],[0.656508,-0.077009,0.750378]]
2025-10-27T14:55:34.188Z,1761576934.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:34.440Z,1761576934.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:34.447Z,1761576934.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065708,0.992415,0.103894],[-0.751541,-0.019272,0.659405],[0.656406,-0.121409,0.744574]]
2025-10-27T14:55:34.693Z,1761576934.693 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:34.850Z,1761576934.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075370,0.985004,0.155199],[-0.758335,-0.044444,0.650348],[0.647493,-0.166710,0.743613]]
2025-10-27T14:55:34.944Z,1761576934.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:35.196Z,1761576935.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:35.254Z,1761576935.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087082,0.981771,0.168948],[-0.761933,-0.043616,0.646185],[0.641774,-0.184998,0.744246]]
2025-10-27T14:55:35.448Z,1761576935.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:35.672Z,1761576935.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097451,0.982863,0.156469],[-0.757829,-0.028629,0.651824],[0.645134,-0.182098,0.742053]]
2025-10-27T14:55:35.703Z,1761576935.703 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:35.956Z,1761576935.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:36.208Z,1761576936.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:36.460Z,1761576936.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:36.543Z,1761576936.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115114,0.987800,0.104883],[-0.740293,0.014906,0.672120],[0.662356,-0.155014,0.732977]]
2025-10-27T14:55:36.712Z,1761576936.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:36.946Z,1761576936.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112513,0.990949,0.073219],[-0.723590,0.031209,0.689524],[0.680998,-0.130561,0.720552]]
2025-10-27T14:55:36.964Z,1761576936.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:37.216Z,1761576937.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:37.349Z,1761576937.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103128,0.993229,0.053489],[-0.702644,0.034683,0.710696],[0.704028,-0.110876,0.701463]]
2025-10-27T14:55:37.468Z,1761576937.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:37.721Z,1761576937.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:37.762Z,1761576937.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092768,0.994442,0.049786],[-0.685697,0.027552,0.727366],[0.721952,-0.101615,0.684442]]
2025-10-27T14:55:37.972Z,1761576937.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:38.224Z,1761576938.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:38.476Z,1761576938.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:38.566Z,1761576938.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069010,0.992936,0.096520],[-0.676942,-0.024460,0.735630],[0.732794,-0.116104,0.670472]]
2025-10-27T14:55:38.729Z,1761576938.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:38.965Z,1761576938.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056583,0.989261,0.134766],[-0.681329,-0.060406,0.729481],[0.729787,-0.133096,0.670594]]
2025-10-27T14:55:38.980Z,1761576938.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:39.232Z,1761576939.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:39.369Z,1761576939.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048477,0.984680,0.167496],[-0.687038,-0.088848,0.721169],[0.725002,-0.150036,0.672206]]
2025-10-27T14:55:39.484Z,1761576939.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:39.736Z,1761576939.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:39.796Z,1761576939.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049332,0.979293,0.196348],[-0.690975,-0.108487,0.714692],[0.721194,-0.170928,0.671314]]
2025-10-27T14:55:39.988Z,1761576939.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:40.241Z,1761576940.241 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:40.493Z,1761576940.493 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:40.590Z,1761576940.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058704,0.968448,0.242203],[-0.683645,-0.137799,0.716688],[0.727450,-0.207653,0.653985]]
2025-10-27T14:55:40.746Z,1761576940.746 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:40.986Z,1761576940.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063319,0.967397,0.245220],[-0.678780,-0.138381,0.721185],[0.731606,-0.212116,0.647888]]
2025-10-27T14:55:40.996Z,1761576940.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:41.248Z,1761576941.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:41.391Z,1761576941.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064549,0.969125,0.237971],[-0.673402,-0.133686,0.727088],[0.736453,-0.207183,0.643982]]
2025-10-27T14:55:41.500Z,1761576941.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:41.752Z,1761576941.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:41.846Z,1761576941.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060573,0.974730,0.215015],[-0.668994,-0.120224,0.733481],[0.740796,-0.188273,0.644806]]
2025-10-27T14:55:42.004Z,1761576942.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:42.256Z,1761576942.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:42.508Z,1761576942.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:42.601Z,1761576942.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059152,0.975030,0.214051],[-0.672529,-0.119536,0.730353],[0.737703,-0.187158,0.648665]]
2025-10-27T14:55:42.760Z,1761576942.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:43.007Z,1761576943.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059487,0.974187,0.217763],[-0.679320,-0.120336,0.723909],[0.731427,-0.190994,0.654626]]
2025-10-27T14:55:43.012Z,1761576943.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:43.266Z,1761576943.266 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:43.410Z,1761576943.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059693,0.974038,0.218375],[-0.686913,-0.118649,0.716989],[0.724284,-0.192804,0.661996]]
2025-10-27T14:55:43.516Z,1761576943.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:43.768Z,1761576943.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:43.848Z,1761576943.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051967,0.977495,0.204460],[-0.692233,-0.112310,0.712882],[0.719801,-0.178580,0.670817]]
2025-10-27T14:55:44.020Z,1761576944.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:44.274Z,1761576944.274 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:44.525Z,1761576944.525 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:44.630Z,1761576944.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045780,0.978904,0.199127],[-0.687809,-0.113672,0.716936],[0.724447,-0.169782,0.668095]]
2025-10-27T14:55:44.776Z,1761576944.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:45.028Z,1761576945.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:45.037Z,1761576945.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039994,0.978376,0.202930],[-0.680176,-0.122117,0.722805],[0.731957,-0.166936,0.660584]]
2025-10-27T14:55:45.280Z,1761576945.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:45.437Z,1761576945.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037402,0.976982,0.210017],[-0.673110,-0.130704,0.727900],[0.738596,-0.168590,0.652728]]
2025-10-27T14:55:45.532Z,1761576945.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:45.786Z,1761576945.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:45.854Z,1761576945.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044423,0.973857,0.222776],[-0.672620,-0.135724,0.727435],[0.738653,-0.182158,0.649007]]
2025-10-27T14:55:46.036Z,1761576946.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:46.250Z,1761576946.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051014,0.974548,0.218297],[-0.679507,-0.126317,0.722713],[0.731893,-0.185203,0.655768]]
2025-10-27T14:55:46.288Z,1761576946.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:46.540Z,1761576946.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:46.663Z,1761576946.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058580,0.977352,0.203351],[-0.689813,-0.107616,0.715945],[0.721614,-0.182214,0.667886]]
2025-10-27T14:55:46.792Z,1761576946.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:47.049Z,1761576947.049 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:47.075Z,1761576947.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066332,0.981316,0.180607],[-0.701824,-0.082777,0.707525],[0.709256,-0.173685,0.683220]]
2025-10-27T14:55:47.296Z,1761576947.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:47.461Z,1761576947.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069695,0.984812,0.159024],[-0.712349,-0.062466,0.699040],[0.698357,-0.162000,0.697176]]
2025-10-27T14:55:47.550Z,1761576947.550 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:47.802Z,1761576947.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:47.863Z,1761576947.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068038,0.987233,0.144022],[-0.720224,-0.051293,0.691843],[0.690397,-0.150800,0.707539]]
2025-10-27T14:55:48.052Z,1761576948.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:48.266Z,1761576948.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064773,0.988775,0.134644],[-0.726523,-0.045768,0.685616],[0.684082,-0.142231,0.715403]]
2025-10-27T14:55:48.304Z,1761576948.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:48.556Z,1761576948.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:48.674Z,1761576948.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061345,0.989563,0.130395],[-0.731701,-0.044269,0.680187],[0.678860,-0.137136,0.721348]]
2025-10-27T14:55:48.808Z,1761576948.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:49.060Z,1761576949.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:49.081Z,1761576949.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058016,0.989853,0.129712],[-0.735687,-0.045438,0.675796],[0.674833,-0.134635,0.725586]]
2025-10-27T14:55:49.312Z,1761576949.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:49.477Z,1761576949.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054732,0.989844,0.131200],[-0.738446,-0.048316,0.672580],[0.672088,-0.133696,0.728302]]
2025-10-27T14:55:49.564Z,1761576949.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:49.819Z,1761576949.819 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:49.881Z,1761576949.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051847,0.989630,0.133960],[-0.739653,-0.052075,0.670971],[0.670989,-0.133872,0.729282]]
2025-10-27T14:55:50.068Z,1761576950.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:50.320Z,1761576950.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:50.573Z,1761576950.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:50.825Z,1761576950.825 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:51.076Z,1761576951.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:51.094Z,1761576951.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045787,0.989367,0.138044],[-0.737000,-0.059827,0.673240],[0.674340,-0.132564,0.726424]]
2025-10-27T14:55:51.328Z,1761576951.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:51.498Z,1761576951.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046529,0.989343,0.137966],[-0.736607,-0.059309,0.673715],[0.674718,-0.132974,0.725998]]
2025-10-27T14:55:51.581Z,1761576951.581 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:51.834Z,1761576951.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:51.903Z,1761576951.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047872,0.989420,0.136955],[-0.736784,-0.057600,0.673670],[0.674431,-0.133156,0.726231]]
2025-10-27T14:55:52.084Z,1761576952.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:52.305Z,1761576952.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049510,0.989578,0.135218],[-0.737765,-0.055023,0.672812],[0.673240,-0.133070,0.727352]]
2025-10-27T14:55:52.336Z,1761576952.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:52.588Z,1761576952.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:52.840Z,1761576952.841 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:53.093Z,1761576953.093 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:53.114Z,1761576953.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052974,0.989499,0.134480],[-0.742596,-0.051002,0.667794],[0.667641,-0.135240,0.732097]]
2025-10-27T14:55:53.344Z,1761576953.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:53.519Z,1761576953.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055478,0.989279,0.135088],[-0.746289,-0.048796,0.663832],[0.663306,-0.137642,0.735581]]
2025-10-27T14:55:53.596Z,1761576953.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:53.848Z,1761576953.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:53.922Z,1761576953.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058429,0.988851,0.136964],[-0.750413,-0.046978,0.659298],[0.658382,-0.141301,0.739302]]
2025-10-27T14:55:54.100Z,1761576954.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:54.326Z,1761576954.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061778,0.988328,0.139251],[-0.754652,-0.045056,0.654576],[0.653210,-0.145525,0.743061]]
2025-10-27T14:55:54.352Z,1761576954.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:54.604Z,1761576954.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:54.741Z,1761576954.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064521,0.988180,0.139062],[-0.758727,-0.041940,0.650057],[0.648205,-0.147452,0.747053]]
2025-10-27T14:55:54.857Z,1761576954.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:55.108Z,1761576955.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:55.136Z,1761576955.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066050,0.988071,0.139113],[-0.762126,-0.040033,0.646190],[0.644051,-0.148702,0.750391]]
2025-10-27T14:55:55.360Z,1761576955.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:55.546Z,1761576955.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066116,0.988081,0.139013],[-0.764681,-0.039326,0.643208],[0.641009,-0.148827,0.752966]]
2025-10-27T14:55:55.614Z,1761576955.614 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:55.864Z,1761576955.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:55.941Z,1761576955.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065047,0.988248,0.138325],[-0.766507,-0.039274,0.641034],[0.638934,-0.147724,0.754944]]
2025-10-27T14:55:56.116Z,1761576956.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:56.345Z,1761576956.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063908,0.988357,0.138077],[-0.768161,-0.039605,0.639030],[0.637059,-0.146905,0.756687]]
2025-10-27T14:55:56.368Z,1761576956.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:56.620Z,1761576956.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:56.769Z,1761576956.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063828,0.988366,0.138050],[-0.770128,-0.039194,0.636684],[0.634688,-0.146954,0.758667]]
2025-10-27T14:55:56.872Z,1761576956.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:57.087Z,1761576957.087 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:55:57.124Z,1761576957.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:57.153Z,1761576957.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064652,0.988161,0.139131],[-0.772804,-0.038629,0.633468],[0.631343,-0.148476,0.761158]]
2025-10-27T14:55:57.376Z,1761576957.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:57.565Z,1761576957.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066508,0.987197,0.144978],[-0.776365,-0.040071,0.629009],[0.626765,-0.154390,0.763760]]
2025-10-27T14:55:57.628Z,1761576957.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:57.880Z,1761576957.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:57.961Z,1761576957.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069290,0.986347,0.149390],[-0.780919,-0.039557,0.623378],[0.620777,-0.159856,0.767517]]
2025-10-27T14:55:58.132Z,1761576958.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:58.368Z,1761576958.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072237,0.986149,0.149304],[-0.786408,-0.035759,0.616672],[0.613469,-0.161961,0.772932]]
2025-10-27T14:55:58.384Z,1761576958.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:58.636Z,1761576958.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:58.782Z,1761576958.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074812,0.986445,0.146047],[-0.792373,-0.030114,0.609293],[0.605432,-0.161306,0.779379]]
2025-10-27T14:55:58.888Z,1761576958.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:59.140Z,1761576959.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:59.173Z,1761576959.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075917,0.987257,0.139860],[-0.798416,-0.023835,0.601635],[0.597301,-0.157341,0.786432]]
2025-10-27T14:55:59.392Z,1761576959.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:59.577Z,1761576959.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074399,0.988356,0.132733],[-0.803773,-0.019351,0.594622],[0.590266,-0.150926,0.792974]]
2025-10-27T14:55:59.644Z,1761576959.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:59.896Z,1761576959.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:55:59.990Z,1761576959.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070083,0.989595,0.125660],[-0.808033,-0.017552,0.588876],[0.584954,-0.142807,0.798395]]
2025-10-27T14:56:00.148Z,1761576960.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:00.385Z,1761576960.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063002,0.990560,0.121748],[-0.810600,-0.020375,0.585246],[0.582202,-0.135560,0.801664]]
2025-10-27T14:56:00.400Z,1761576960.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:00.652Z,1761576960.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:00.793Z,1761576960.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053115,0.991188,0.121345],[-0.811067,-0.028067,0.584279],[0.582536,-0.129452,0.802430]]
2025-10-27T14:56:00.904Z,1761576960.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:01.156Z,1761576961.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:01.196Z,1761576961.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040827,0.990911,0.128176],[-0.809529,-0.042388,0.585548],[0.585659,-0.127668,0.800441]]
2025-10-27T14:56:01.409Z,1761576961.409 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:01.599Z,1761576961.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027297,0.989166,0.144243],[-0.806471,-0.063468,0.587858],[0.590643,-0.132375,0.796001]]
2025-10-27T14:56:01.660Z,1761576961.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:01.912Z,1761576961.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:02.001Z,1761576962.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016047,0.985803,0.167135],[-0.803352,-0.086807,0.589143],[0.595288,-0.143723,0.790554]]
2025-10-27T14:56:02.164Z,1761576962.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:02.406Z,1761576962.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009222,0.981916,0.189091],[-0.801647,-0.105775,0.588366],[0.597727,-0.157010,0.786174]]
2025-10-27T14:56:02.416Z,1761576962.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:02.668Z,1761576962.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:02.813Z,1761576962.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004584,0.978535,0.206028],[-0.801244,-0.119679,0.586246],[0.598320,-0.167766,0.783497]]
2025-10-27T14:56:02.921Z,1761576962.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:03.172Z,1761576963.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:03.217Z,1761576963.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001292,0.976276,0.216527],[-0.802162,-0.128277,0.583165],[0.597106,-0.174443,0.782965]]
2025-10-27T14:56:03.424Z,1761576963.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:03.618Z,1761576963.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000810,0.973728,0.227713],[-0.804150,-0.135993,0.578661],[0.594426,-0.182647,0.783133]]
2025-10-27T14:56:03.686Z,1761576963.686 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:03.936Z,1761576963.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:04.027Z,1761576964.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001453,0.971524,0.236936],[-0.806751,-0.141143,0.573787],[0.590890,-0.190315,0.783983]]
2025-10-27T14:56:04.188Z,1761576964.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:04.426Z,1761576964.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001187,0.969281,0.245953],[-0.809676,-0.145276,0.568612],[0.586876,-0.198467,0.784976]]
2025-10-27T14:56:04.440Z,1761576964.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:04.692Z,1761576964.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:04.842Z,1761576964.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000116,0.967277,0.253723],[-0.812585,-0.147971,0.563747],[0.582843,-0.206106,0.786012]]
2025-10-27T14:56:04.944Z,1761576964.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:05.196Z,1761576965.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:05.234Z,1761576965.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002362,0.966150,0.257970],[-0.815278,-0.147521,0.559963],[0.579065,-0.211640,0.787333]]
2025-10-27T14:56:05.448Z,1761576965.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:05.638Z,1761576965.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005391,0.966318,0.257296],[-0.817785,-0.143817,0.557265],[0.575499,-0.213417,0.789465]]
2025-10-27T14:56:05.700Z,1761576965.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:05.952Z,1761576965.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:06.049Z,1761576966.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009589,0.967917,0.251086],[-0.819929,-0.136120,0.556046],[0.572385,-0.211204,0.792319]]
2025-10-27T14:56:06.204Z,1761576966.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:06.447Z,1761576966.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014453,0.970788,0.239504],[-0.821679,-0.124959,0.556084],[0.569768,-0.204833,0.795870]]
2025-10-27T14:56:06.456Z,1761576966.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:06.708Z,1761576966.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:06.850Z,1761576966.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019880,0.974613,0.223014],[-0.823101,-0.110667,0.557008],[0.567548,-0.194636,0.800004]]
2025-10-27T14:56:06.960Z,1761576966.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:07.212Z,1761576967.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:07.253Z,1761576967.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025510,0.978588,0.204241],[-0.824256,-0.095013,0.558189],[0.565643,-0.182586,0.804183]]
2025-10-27T14:56:07.467Z,1761576967.467 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:07.658Z,1761576967.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030507,0.982246,0.185098],[-0.825138,-0.079763,0.559272],[0.564107,-0.169793,0.808056]]
2025-10-27T14:56:07.716Z,1761576967.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:07.968Z,1761576967.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:08.063Z,1761576968.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035473,0.985554,0.165603],[-0.826007,-0.064362,0.559973],[0.562542,-0.156653,0.811792]]
2025-10-27T14:56:08.221Z,1761576968.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:08.465Z,1761576968.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039642,0.988280,0.147414],[-0.826793,-0.050403,0.560244],[0.561108,-0.144090,0.815105]]
2025-10-27T14:56:08.472Z,1761576968.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:08.724Z,1761576968.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:08.869Z,1761576968.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043038,0.990280,0.132264],[-0.827467,-0.038855,0.560168],[0.559862,-0.133553,0.817752]]
2025-10-27T14:56:08.976Z,1761576968.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:09.228Z,1761576969.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:09.274Z,1761576969.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045177,0.991758,0.119893],[-0.828026,-0.029966,0.559888],[0.558867,-0.124569,0.819848]]
2025-10-27T14:56:09.480Z,1761576969.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:09.679Z,1761576969.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045474,0.992594,0.112651],[-0.828471,-0.025538,0.559449],[0.558183,-0.118768,0.821174]]
2025-10-27T14:56:09.733Z,1761576969.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:09.984Z,1761576969.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:10.082Z,1761576970.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045111,0.993013,0.109041],[-0.828962,-0.023702,0.558803],[0.557483,-0.115599,0.822101]]
2025-10-27T14:56:10.236Z,1761576970.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:10.485Z,1761576970.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044710,0.992937,0.109896],[-0.829499,-0.024405,0.557975],[0.556716,-0.116106,0.822549]]
2025-10-27T14:56:10.492Z,1761576970.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:10.744Z,1761576970.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:10.897Z,1761576970.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044583,0.992459,0.114184],[-0.829998,-0.026813,0.557121],[0.555982,-0.119611,0.822543]]
2025-10-27T14:56:10.996Z,1761576970.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:11.248Z,1761576971.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:11.294Z,1761576971.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045040,0.991672,0.120654],[-0.830518,-0.029949,0.556186],[0.555168,-0.125255,0.822253]]
2025-10-27T14:56:11.500Z,1761576971.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:11.697Z,1761576971.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046571,0.990635,0.128352],[-0.831101,-0.032857,0.555150],[0.554168,-0.132527,0.821787]]
2025-10-27T14:56:11.752Z,1761576971.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:12.005Z,1761576972.005 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:12.102Z,1761576972.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048266,0.989409,0.136893],[-0.831909,-0.036032,0.553741],[0.552809,-0.140610,0.821359]]
2025-10-27T14:56:12.256Z,1761576972.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:12.508Z,1761576972.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:12.517Z,1761576972.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050156,0.987940,0.146487],[-0.832862,-0.039575,0.552064],[0.551203,-0.149693,0.820833]]
2025-10-27T14:56:12.763Z,1761576972.763 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:12.909Z,1761576972.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052272,0.986615,0.154463],[-0.833877,-0.041982,0.550351],[0.549469,-0.157572,0.820521]]
2025-10-27T14:56:12.945Z,1761576972.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:56:13.017Z,1761576973.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:13.268Z,1761576973.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:13.314Z,1761576973.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054175,0.986020,0.157576],[-0.834961,-0.041815,0.548719],[0.547636,-0.161297,0.821022]]
2025-10-27T14:56:13.520Z,1761576973.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:13.721Z,1761576973.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055812,0.985593,0.159661],[-0.835719,-0.041383,0.547596],[0.546314,-0.163995,0.821369]]
2025-10-27T14:56:13.774Z,1761576973.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:14.024Z,1761576974.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:14.122Z,1761576974.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056643,0.985795,0.158113],[-0.836339,-0.039644,0.546778],[0.545279,-0.163207,0.822213]]
2025-10-27T14:56:14.277Z,1761576974.277 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:14.528Z,1761576974.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:14.780Z,1761576974.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:15.032Z,1761576975.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:15.284Z,1761576975.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:15.336Z,1761576975.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053621,0.988451,0.141740],[-0.836334,-0.033100,0.547220],[0.545591,-0.147885,0.824900]]
2025-10-27T14:56:15.536Z,1761576975.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:15.744Z,1761576975.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051414,0.989128,0.137776],[-0.835437,-0.032989,0.548595],[0.547176,-0.143308,0.824658]]
2025-10-27T14:56:15.790Z,1761576975.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:16.040Z,1761576976.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:16.142Z,1761576976.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049433,0.989594,0.135129],[-0.834222,-0.033487,0.550412],[0.549209,-0.139936,0.823885]]
2025-10-27T14:56:16.292Z,1761576976.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:16.544Z,1761576976.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:16.547Z,1761576976.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047838,0.990061,0.132256],[-0.832772,-0.033580,0.552596],[0.551545,-0.136574,0.822889]]
2025-10-27T14:56:16.796Z,1761576976.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:16.958Z,1761576976.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047462,0.990290,0.130663],[-0.831367,-0.033347,0.554722],[0.553693,-0.134957,0.821712]]
2025-10-27T14:56:17.053Z,1761576977.053 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:17.304Z,1761576977.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:17.354Z,1761576977.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048252,0.990373,0.129744],[-0.829922,-0.032526,0.556930],[0.555788,-0.134550,0.820363]]
2025-10-27T14:56:17.556Z,1761576977.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:17.764Z,1761576977.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049927,0.990313,0.129567],[-0.828388,-0.031408,0.559274],[0.557926,-0.135255,0.818795]]
2025-10-27T14:56:17.810Z,1761576977.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:18.060Z,1761576978.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:18.162Z,1761576978.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052435,0.990367,0.128157],[-0.826867,-0.028902,0.561654],[0.559947,-0.135419,0.817386]]
2025-10-27T14:56:18.312Z,1761576978.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:18.564Z,1761576978.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:18.568Z,1761576978.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055934,0.990093,0.128792],[-0.825310,-0.026747,0.564046],[0.561903,-0.137843,0.815637]]
2025-10-27T14:56:18.816Z,1761576978.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:18.969Z,1761576978.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060706,0.989782,0.129024],[-0.823885,-0.023286,0.566278],[0.563496,-0.140677,0.814053]]
2025-10-27T14:56:19.068Z,1761576979.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:19.320Z,1761576979.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:19.373Z,1761576979.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065924,0.989749,0.126694],[-0.822565,-0.017969,0.568387],[0.564837,-0.141684,0.812948]]
2025-10-27T14:56:19.572Z,1761576979.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:19.826Z,1761576979.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:19.838Z,1761576979.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071861,0.989565,0.124890],[-0.821456,-0.012302,0.570139],[0.565726,-0.143563,0.812000]]
2025-10-27T14:56:20.076Z,1761576980.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:20.207Z,1761576980.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078548,0.989442,0.121797],[-0.820588,-0.005206,0.571497],[0.566097,-0.144835,0.811515]]
2025-10-27T14:56:20.328Z,1761576980.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:20.580Z,1761576980.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:20.589Z,1761576980.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086033,0.989421,0.116812],[-0.819815,0.003681,0.572617],[0.566129,-0.145028,0.811459]]
2025-10-27T14:56:20.832Z,1761576980.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:20.998Z,1761576980.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094032,0.989566,0.109169],[-0.819379,0.014639,0.573065],[0.565487,-0.143337,0.812206]]
2025-10-27T14:56:21.084Z,1761576981.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:21.336Z,1761576981.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:21.394Z,1761576981.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101987,0.989749,0.099978],[-0.819399,0.026593,0.572607],[0.564079,-0.140320,0.813711]]
2025-10-27T14:56:21.588Z,1761576981.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:21.840Z,1761576981.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:21.848Z,1761576981.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109284,0.989909,0.090203],[-0.819804,0.038442,0.571352],[0.562119,-0.136389,0.815733]]
2025-10-27T14:56:22.092Z,1761576982.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:22.202Z,1761576982.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115507,0.989865,0.082612],[-0.820713,0.048256,0.569299],[0.559543,-0.133559,0.817969]]
2025-10-27T14:56:22.344Z,1761576982.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:22.597Z,1761576982.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:22.607Z,1761576982.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119727,0.989857,0.076470],[-0.822069,0.055656,0.566661],[0.556658,-0.130708,0.820395]]
2025-10-27T14:56:22.848Z,1761576982.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:23.014Z,1761576983.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121776,0.990004,0.071154],[-0.823760,0.060815,0.563668],[0.553706,-0.127255,0.822931]]
2025-10-27T14:56:23.101Z,1761576983.101 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:23.352Z,1761576983.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:23.416Z,1761576983.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121192,0.990383,0.066743],[-0.825635,0.063249,0.560649],[0.551035,-0.123051,0.825360]]
2025-10-27T14:56:23.604Z,1761576983.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:23.848Z,1761576983.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118256,0.990795,0.065880],[-0.827672,0.061696,0.557810],[0.548611,-0.120491,0.827350]]
2025-10-27T14:56:23.856Z,1761576983.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:24.108Z,1761576984.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:24.222Z,1761576984.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113303,0.991214,0.068237],[-0.829665,0.056604,0.555384],[0.546643,-0.119540,0.828789]]
2025-10-27T14:56:24.363Z,1761576984.363 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:24.612Z,1761576984.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:24.627Z,1761576984.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107095,0.991547,0.073248],[-0.831413,0.048910,0.553499],[0.545237,-0.120176,0.829623]]
2025-10-27T14:56:24.864Z,1761576984.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:25.033Z,1761576985.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099112,0.991681,0.082128],[-0.832727,0.037476,0.552414],[0.544741,-0.123141,0.829514]]
2025-10-27T14:56:25.121Z,1761576985.121 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:25.208Z,1761576985.208 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.277554
2025-10-27T14:56:25.372Z,1761576985.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:25.433Z,1761576985.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090212,0.991322,0.095613],[-0.833541,0.022614,0.551995],[0.545043,-0.129494,0.828348]]
2025-10-27T14:56:25.624Z,1761576985.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:25.863Z,1761576985.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081115,0.990416,0.111786],[-0.833991,0.006029,0.551745],[0.545783,-0.137983,0.826487]]
2025-10-27T14:56:25.876Z,1761576985.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:26.128Z,1761576986.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:26.211Z,1761576986.211 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:56:26.242Z,1761576986.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073238,0.989168,0.127216],[-0.834030,-0.009195,0.551643],[0.546837,-0.146503,0.824322]]
2025-10-27T14:56:26.383Z,1761576986.383 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:26.631Z,1761576986.631 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:26.651Z,1761576986.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067290,0.987692,0.141197],[-0.833976,-0.022003,0.551361],[0.547682,-0.154856,0.822231]]
2025-10-27T14:56:26.884Z,1761576986.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:27.050Z,1761576987.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063246,0.986235,0.152776],[-0.833881,-0.031882,0.551023],[0.548309,-0.162247,0.820386]]
2025-10-27T14:56:27.136Z,1761576987.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:27.388Z,1761576987.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:27.454Z,1761576987.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060826,0.984983,0.161583],[-0.833634,-0.038901,0.550946],[0.548958,-0.168212,0.818749]]
2025-10-27T14:56:27.640Z,1761576987.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:27.865Z,1761576987.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060248,0.984111,0.167020],[-0.833423,-0.042491,0.551000],[0.549342,-0.172395,0.817620]]
2025-10-27T14:56:27.892Z,1761576987.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:28.144Z,1761576988.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:28.261Z,1761576988.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061292,0.983543,0.169963],[-0.833261,-0.043321,0.551179],[0.549471,-0.175406,0.816893]]
2025-10-27T14:56:28.396Z,1761576988.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:28.648Z,1761576988.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:28.666Z,1761576988.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063528,0.983353,0.170240],[-0.833405,-0.041566,0.551097],[0.548999,-0.176889,0.816890]]
2025-10-27T14:56:28.900Z,1761576988.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:29.070Z,1761576989.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066886,0.983184,0.169928],[-0.833558,-0.038539,0.551086],[0.548367,-0.178505,0.816963]]
2025-10-27T14:56:29.153Z,1761576989.153 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:29.404Z,1761576989.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:29.487Z,1761576989.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071144,0.983146,0.168409],[-0.833746,-0.034068,0.551096],[0.547545,-0.179618,0.817271]]
2025-10-27T14:56:29.656Z,1761576989.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:29.878Z,1761576989.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076005,0.983368,0.164956],[-0.833926,-0.028001,0.551166],[0.546618,-0.179452,0.817928]]
2025-10-27T14:56:29.908Z,1761576989.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:30.160Z,1761576990.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:30.282Z,1761576990.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081214,0.984160,0.157588],[-0.834078,-0.019448,0.551303],[0.545635,-0.176215,0.819287]]
2025-10-27T14:56:30.412Z,1761576990.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:30.664Z,1761576990.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:30.686Z,1761576990.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086662,0.985009,0.149153],[-0.834299,-0.010065,0.551220],[0.544458,-0.172208,0.820920]]
2025-10-27T14:56:30.916Z,1761576990.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:31.103Z,1761576991.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098192,0.986969,0.127476],[-0.833814,0.011668,0.551923],[0.543243,-0.160486,0.824094]]
2025-10-27T14:56:31.168Z,1761576991.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:31.421Z,1761576991.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:31.503Z,1761576991.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104246,0.987714,0.116418],[-0.833220,0.022823,0.552470],[0.543026,-0.154594,0.825363]]
2025-10-27T14:56:31.672Z,1761576991.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:31.903Z,1761576991.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109921,0.988367,0.105112],[-0.832637,0.033813,0.552786],[0.542801,-0.148283,0.826667]]
2025-10-27T14:56:31.924Z,1761576991.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:32.176Z,1761576992.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:32.306Z,1761576992.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115605,0.988844,0.093930],[-0.832184,0.044790,0.552688],[0.542315,-0.142061,0.828078]]
2025-10-27T14:56:32.415Z,1761576992.415 [Radio_Surface](INFO): Powering down
2025-10-27T14:56:32.428Z,1761576992.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:32.680Z,1761576992.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:32.712Z,1761576992.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121104,0.989145,0.083229],[-0.831806,0.055369,0.552298],[0.541694,-0.136116,0.829482]]
2025-10-27T14:56:32.932Z,1761576992.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:33.110Z,1761576993.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126538,0.989232,0.073539],[-0.831448,0.065339,0.551747],[0.541001,-0.130961,0.830763]]
2025-10-27T14:56:33.184Z,1761576993.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:33.436Z,1761576993.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:33.514Z,1761576993.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131331,0.989202,0.065055],[-0.831214,0.074120,0.550989],[0.540218,-0.126437,0.831973]]
2025-10-27T14:56:33.688Z,1761576993.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:33.917Z,1761576993.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134615,0.989231,0.057461],[-0.831176,0.081156,0.550055],[0.539468,-0.121806,0.833149]]
2025-10-27T14:56:33.940Z,1761576993.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:34.192Z,1761576994.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:34.322Z,1761576994.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137063,0.989212,0.051699],[-0.831319,0.086493,0.549024],[0.538630,-0.118229,0.834206]]
2025-10-27T14:56:34.444Z,1761576994.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:34.698Z,1761576994.698 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:34.733Z,1761576994.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138879,0.989133,0.048248],[-0.831617,0.090033,0.548003],[0.537704,-0.116230,0.835084]]
2025-10-27T14:56:34.949Z,1761576994.949 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:35.129Z,1761576995.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139534,0.989074,0.047570],[-0.831921,0.091037,0.547375],[0.537064,-0.115952,0.835534]]
2025-10-27T14:56:35.200Z,1761576995.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:35.452Z,1761576995.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:35.533Z,1761576995.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139484,0.989031,0.048598],[-0.832241,0.090495,0.546979],[0.536582,-0.116740,0.835734]]
2025-10-27T14:56:35.704Z,1761576995.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:35.940Z,1761576995.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138762,0.989064,0.049973],[-0.832514,0.089172,0.546780],[0.536344,-0.117476,0.835784]]
2025-10-27T14:56:35.957Z,1761576995.957 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:36.208Z,1761576996.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:36.341Z,1761576996.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137661,0.989063,0.052952],[-0.832780,0.086636,0.546784],[0.536216,-0.119368,0.835598]]
2025-10-27T14:56:36.460Z,1761576996.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:36.712Z,1761576996.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:36.752Z,1761576996.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136694,0.988982,0.056830],[-0.832953,0.083697,0.546977],[0.536193,-0.122105,0.835217]]
2025-10-27T14:56:36.965Z,1761576996.965 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:37.150Z,1761576997.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135703,0.989040,0.058181],[-0.833005,0.082108,0.547138],[0.536364,-0.122714,0.835018]]
2025-10-27T14:56:37.216Z,1761576997.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:37.468Z,1761576997.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:37.556Z,1761576997.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135405,0.989027,0.059089],[-0.832986,0.081345,0.547282],[0.536470,-0.123325,0.834860]]
2025-10-27T14:56:37.720Z,1761576997.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:37.970Z,1761576997.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136262,0.988898,0.059275],[-0.832841,0.081947,0.547413],[0.536478,-0.123958,0.834761]]
2025-10-27T14:56:37.972Z,1761576997.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:38.224Z,1761576998.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:38.362Z,1761576998.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137962,0.988709,0.058492],[-0.832705,0.083813,0.547337],[0.536255,-0.124218,0.834866]]
2025-10-27T14:56:38.476Z,1761576998.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:38.728Z,1761576998.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:38.980Z,1761576998.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:39.174Z,1761576999.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144214,0.988022,0.054904],[-0.832478,0.091141,0.546510],[0.534960,-0.124521,0.835651]]
2025-10-27T14:56:39.232Z,1761576999.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:39.484Z,1761576999.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:39.573Z,1761576999.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148204,0.987593,0.051930],[-0.832335,0.096202,0.545860],[0.534092,-0.124121,0.836266]]
2025-10-27T14:56:39.737Z,1761576999.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:39.978Z,1761576999.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152803,0.987048,0.048868],[-0.832451,0.101905,0.544647],[0.532613,-0.123904,0.837240]]
2025-10-27T14:56:39.988Z,1761576999.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:40.240Z,1761577000.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:40.382Z,1761577000.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157823,0.986324,0.047511],[-0.832798,0.107095,0.543119],[0.530603,-0.125283,0.838310]]
2025-10-27T14:56:40.492Z,1761577000.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:40.744Z,1761577000.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:40.785Z,1761577000.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163298,0.985533,0.045376],[-0.833495,0.113207,0.540805],[0.527844,-0.126133,0.839923]]
2025-10-27T14:56:40.996Z,1761577000.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:41.190Z,1761577001.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169051,0.984669,0.043005],[-0.834552,0.119792,0.537748],[0.524352,-0.126797,0.842008]]
2025-10-27T14:56:41.249Z,1761577001.249 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:41.503Z,1761577001.503 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:41.593Z,1761577001.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174734,0.983757,0.041116],[-0.835944,0.126156,0.534118],[0.520255,-0.127700,0.844410]]
2025-10-27T14:56:41.753Z,1761577001.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:42.001Z,1761577002.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179822,0.982952,0.038329],[-0.837440,0.132527,0.530217],[0.516098,-0.127444,0.846995]]
2025-10-27T14:56:42.004Z,1761577002.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:42.256Z,1761577002.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:42.402Z,1761577002.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183943,0.982226,0.037382],[-0.838904,0.137056,0.526741],[0.512255,-0.128250,0.849203]]
2025-10-27T14:56:42.508Z,1761577002.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:42.760Z,1761577002.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:42.805Z,1761577002.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187279,0.981615,0.036859],[-0.840292,0.140657,0.523570],[0.508759,-0.129025,0.851185]]
2025-10-27T14:56:43.012Z,1761577003.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:43.209Z,1761577003.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189974,0.981113,0.036421],[-0.841557,0.143622,0.520725],[0.505659,-0.129574,0.852947]]
2025-10-27T14:56:43.264Z,1761577003.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:43.516Z,1761577003.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:43.615Z,1761577003.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191886,0.980799,0.034820],[-0.842600,0.146450,0.518245],[0.503195,-0.128784,0.854523]]
2025-10-27T14:56:43.768Z,1761577003.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:44.018Z,1761577004.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193501,0.980537,0.033235],[-0.843354,0.148929,0.516308],[0.501309,-0.127935,0.855758]]
2025-10-27T14:56:44.025Z,1761577004.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:44.272Z,1761577004.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:44.424Z,1761577004.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195064,0.980306,0.030814],[-0.843935,0.151755,0.514533],[0.499724,-0.126372,0.856917]]
2025-10-27T14:56:44.526Z,1761577004.526 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:44.780Z,1761577004.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:44.826Z,1761577004.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196334,0.980133,0.028150],[-0.844292,0.154385,0.513162],[0.498622,-0.124518,0.857830]]
2025-10-27T14:56:45.032Z,1761577005.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:45.238Z,1761577005.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197874,0.979909,0.024997],[-0.844410,0.157451,0.512037],[0.497813,-0.122427,0.858600]]
2025-10-27T14:56:45.284Z,1761577005.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:45.536Z,1761577005.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:45.634Z,1761577005.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199603,0.979608,0.022953],[-0.844416,0.160078,0.511211],[0.497112,-0.121421,0.859149]]
2025-10-27T14:56:45.790Z,1761577005.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:46.037Z,1761577006.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201475,0.979281,0.020389],[-0.844280,0.163072,0.510488],[0.496587,-0.120065,0.859643]]
2025-10-27T14:56:46.058Z,1761577006.058 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:46.312Z,1761577006.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:46.451Z,1761577006.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204335,0.978751,0.017136],[-0.844095,0.167304,0.509424],[0.495733,-0.118557,0.860345]]
2025-10-27T14:56:46.564Z,1761577006.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:46.816Z,1761577006.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:46.848Z,1761577006.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207512,0.978141,0.013356],[-0.843859,0.172085,0.508221],[0.494814,-0.116733,0.861123]]
2025-10-27T14:56:47.068Z,1761577007.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:47.251Z,1761577007.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210441,0.977522,0.012834],[-0.843765,0.174985,0.507386],[0.493735,-0.117604,0.861623]]
2025-10-27T14:56:47.320Z,1761577007.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:47.572Z,1761577007.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:47.654Z,1761577007.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213559,0.976846,0.012796],[-0.843854,0.177852,0.506239],[0.492242,-0.118910,0.862298]]
2025-10-27T14:56:47.827Z,1761577007.827 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:48.057Z,1761577008.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216497,0.976178,0.014344],[-0.844162,0.179797,0.505038],[0.490428,-0.121448,0.862978]]
2025-10-27T14:56:48.076Z,1761577008.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:48.328Z,1761577008.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:48.462Z,1761577008.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219469,0.975468,0.017198],[-0.844674,0.181161,0.503694],[0.488221,-0.125072,0.863711]]
2025-10-27T14:56:48.580Z,1761577008.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:48.832Z,1761577008.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:48.869Z,1761577008.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222078,0.974841,0.019140],[-0.845404,0.182737,0.501895],[0.485770,-0.127641,0.864717]]
2025-10-27T14:56:49.084Z,1761577009.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:49.336Z,1761577009.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:49.588Z,1761577009.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:49.673Z,1761577009.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225469,0.974038,0.020332],[-0.847044,0.185676,0.498037],[0.481332,-0.129514,0.866917]]
2025-10-27T14:56:49.842Z,1761577009.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:50.077Z,1761577010.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226373,0.973841,0.019732],[-0.847944,0.187058,0.495984],[0.479318,-0.129009,0.868108]]
2025-10-27T14:56:50.092Z,1761577010.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:50.345Z,1761577010.345 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:50.483Z,1761577010.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226780,0.973749,0.019563],[-0.848539,0.187680,0.494729],[0.478071,-0.128795,0.868827]]
2025-10-27T14:56:50.596Z,1761577010.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:50.848Z,1761577010.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:50.886Z,1761577010.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226996,0.973698,0.019605],[-0.849014,0.187987,0.493798],[0.477125,-0.128735,0.869356]]
2025-10-27T14:56:51.102Z,1761577011.102 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:51.289Z,1761577011.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227350,0.973624,0.019184],[-0.849318,0.188609,0.493037],[0.476414,-0.128385,0.869797]]
2025-10-27T14:56:51.352Z,1761577011.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:51.604Z,1761577011.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:51.694Z,1761577011.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227629,0.973570,0.018634],[-0.849509,0.189196,0.492483],[0.475941,-0.127933,0.870123]]
2025-10-27T14:56:51.856Z,1761577011.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:52.099Z,1761577012.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228080,0.973465,0.018565],[-0.849552,0.189660,0.492229],[0.475647,-0.128040,0.870267]]
2025-10-27T14:56:52.108Z,1761577012.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:52.360Z,1761577012.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:52.502Z,1761577012.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228356,0.973406,0.018290],[-0.849548,0.190054,0.492084],[0.475522,-0.127908,0.870355]]
2025-10-27T14:56:52.614Z,1761577012.614 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:52.864Z,1761577012.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:52.909Z,1761577012.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228211,0.973434,0.018604],[-0.849577,0.189769,0.492145],[0.475540,-0.128119,0.870315]]
2025-10-27T14:56:53.117Z,1761577013.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:53.310Z,1761577013.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228991,0.973248,0.018766],[-0.849566,0.190405,0.491919],[0.475185,-0.128588,0.870439]]
2025-10-27T14:56:53.368Z,1761577013.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:53.620Z,1761577013.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:53.713Z,1761577013.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229719,0.973070,0.019087],[-0.849568,0.190917,0.491716],[0.474830,-0.129172,0.870546]]
2025-10-27T14:56:53.874Z,1761577013.874 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:54.117Z,1761577014.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230613,0.972854,0.019313],[-0.849600,0.191641,0.491379],[0.474339,-0.129727,0.870732]]
2025-10-27T14:56:54.128Z,1761577014.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:54.380Z,1761577014.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:54.521Z,1761577014.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231071,0.972691,0.021892],[-0.849824,0.190825,0.491310],[0.473715,-0.132132,0.870710]]
2025-10-27T14:56:54.632Z,1761577014.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:54.884Z,1761577014.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:54.946Z,1761577014.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231889,0.972451,0.023820],[-0.850091,0.190686,0.490902],[0.472835,-0.134084,0.870889]]
2025-10-27T14:56:55.136Z,1761577015.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:55.329Z,1761577015.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232175,0.972298,0.027055],[-0.850291,0.189377,0.491062],[0.472335,-0.137017,0.870704]]
2025-10-27T14:56:55.388Z,1761577015.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:55.640Z,1761577015.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:55.745Z,1761577015.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232186,0.972205,0.030106],[-0.850438,0.187889,0.491378],[0.472064,-0.139694,0.870426]]
2025-10-27T14:56:55.892Z,1761577015.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:56.138Z,1761577016.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232546,0.972046,0.032388],[-0.850656,0.187136,0.491288],[0.471493,-0.141798,0.870395]]
2025-10-27T14:56:56.144Z,1761577016.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:56.335Z,1761577016.335 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T14:56:56.397Z,1761577016.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:56.543Z,1761577016.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233029,0.971804,0.035976],[-0.850803,0.185817,0.491534],[0.470990,-0.145150,0.870115]]
2025-10-27T14:56:56.648Z,1761577016.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:56.901Z,1761577016.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:56.946Z,1761577016.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233511,0.971676,0.036307],[-0.850946,0.186145,0.491164],[0.470494,-0.145587,0.870310]]
2025-10-27T14:56:57.152Z,1761577017.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:57.339Z,1761577017.339 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-27T14:56:57.339Z,1761577017.339 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:56:57.351Z,1761577017.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234701,0.971380,0.036544],[-0.851004,0.187156,0.490678],[0.469796,-0.146262,0.870574]]
2025-10-27T14:56:57.404Z,1761577017.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:57.656Z,1761577017.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:57.764Z,1761577017.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235760,0.971138,0.036181],[-0.851060,0.188349,0.490124],[0.469163,-0.146344,0.870902]]
2025-10-27T14:56:57.909Z,1761577017.909 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:58.160Z,1761577018.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:58.412Z,1761577018.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:58.562Z,1761577018.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238407,0.970588,0.033494],[-0.850833,0.192114,0.489056],[0.468237,-0.145092,0.871609]]
2025-10-27T14:56:58.664Z,1761577018.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:58.916Z,1761577018.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:58.966Z,1761577018.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239817,0.970278,0.032365],[-0.850726,0.193973,0.488507],[0.467710,-0.144686,0.871959]]
2025-10-27T14:56:59.168Z,1761577019.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:59.370Z,1761577019.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241620,0.969865,0.031331],[-0.850594,0.196146,0.487870],[0.467023,-0.144529,0.872354]]
2025-10-27T14:56:59.421Z,1761577019.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:59.672Z,1761577019.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:56:59.805Z,1761577019.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244055,0.969298,0.029965],[-0.850429,0.199071,0.486972],[0.466056,-0.144331,0.872903]]
2025-10-27T14:56:59.925Z,1761577019.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:00.176Z,1761577020.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:00.428Z,1761577020.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:00.582Z,1761577020.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248420,0.968247,0.028020],[-0.850181,0.204083,0.485326],[0.464197,-0.144387,0.873884]]
2025-10-27T14:57:00.680Z,1761577020.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:00.932Z,1761577020.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:00.986Z,1761577020.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250542,0.967765,0.025703],[-0.850115,0.207226,0.484110],[0.463178,-0.143140,0.874630]]
2025-10-27T14:57:01.184Z,1761577021.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:01.436Z,1761577021.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:01.688Z,1761577021.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:01.844Z,1761577021.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253179,0.967218,0.019723],[-0.849860,0.212627,0.482211],[0.462209,-0.138847,0.875833]]
2025-10-27T14:57:01.940Z,1761577021.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:02.192Z,1761577022.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:02.199Z,1761577022.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253441,0.967166,0.018903],[-0.849725,0.213243,0.482177],[0.462314,-0.138266,0.875870]]
2025-10-27T14:57:02.444Z,1761577022.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:02.603Z,1761577022.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253199,0.967274,0.016437],[-0.849604,0.214207,0.481963],[0.462670,-0.135998,0.876037]]
2025-10-27T14:57:02.696Z,1761577022.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:02.948Z,1761577022.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:03.013Z,1761577023.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252516,0.967463,0.015842],[-0.849491,0.213826,0.482331],[0.463250,-0.135254,0.875846]]
2025-10-27T14:57:03.200Z,1761577023.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:03.419Z,1761577023.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251144,0.967802,0.016901],[-0.849311,0.211952,0.483474],[0.464325,-0.135776,0.875195]]
2025-10-27T14:57:03.452Z,1761577023.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:03.704Z,1761577023.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:03.956Z,1761577023.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:04.208Z,1761577024.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:04.222Z,1761577024.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247166,0.968778,0.019419],[-0.848750,0.206788,0.486684],[0.467474,-0.136774,0.873362]]
2025-10-27T14:57:04.460Z,1761577024.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:04.621Z,1761577024.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244392,0.969453,0.020801],[-0.848301,0.203360,0.488906],[0.469742,-0.137130,0.872088]]
2025-10-27T14:57:04.712Z,1761577024.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:04.964Z,1761577024.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:05.026Z,1761577025.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241789,0.970042,0.023580],[-0.847807,0.199376,0.491399],[0.471976,-0.138806,0.870615]]
2025-10-27T14:57:05.216Z,1761577025.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:05.468Z,1761577025.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:05.720Z,1761577025.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:05.850Z,1761577025.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236977,0.971067,0.029512],[-0.846375,0.191443,0.496991],[0.476961,-0.142754,0.867254]]
2025-10-27T14:57:05.972Z,1761577025.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:06.224Z,1761577026.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:06.243Z,1761577026.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234947,0.971485,0.031876],[-0.845399,0.188050,0.499938],[0.479688,-0.144407,0.865474]]
2025-10-27T14:57:06.476Z,1761577026.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:06.642Z,1761577026.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233265,0.971817,0.034034],[-0.844233,0.185025,0.503027],[0.482553,-0.146071,0.863600]]
2025-10-27T14:57:06.732Z,1761577026.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:06.980Z,1761577026.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:07.045Z,1761577027.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232428,0.971915,0.036852],[-0.842784,0.182345,0.506424],[0.485482,-0.148765,0.861497]]
2025-10-27T14:57:07.232Z,1761577027.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:07.451Z,1761577027.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232265,0.971894,0.038395],[-0.841207,0.180904,0.509554],[0.488287,-0.150650,0.859582]]
2025-10-27T14:57:07.484Z,1761577027.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:07.736Z,1761577027.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:07.863Z,1761577027.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232837,0.971675,0.040418],[-0.839318,0.179780,0.513054],[0.491256,-0.153382,0.857404]]
2025-10-27T14:57:07.988Z,1761577027.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:08.240Z,1761577028.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:08.258Z,1761577028.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233867,0.971414,0.040749],[-0.837290,0.179918,0.516309],[0.494218,-0.154866,0.855433]]
2025-10-27T14:57:08.492Z,1761577028.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:08.662Z,1761577028.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235447,0.971071,0.039820],[-0.835284,0.181238,0.519089],[0.496855,-0.155479,0.853792]]
2025-10-27T14:57:08.745Z,1761577028.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:09.007Z,1761577029.007 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:09.066Z,1761577029.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237207,0.970661,0.039363],[-0.833364,0.182497,0.521727],[0.499237,-0.156561,0.852204]]
2025-10-27T14:57:09.262Z,1761577029.262 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:09.471Z,1761577029.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239236,0.970271,0.036615],[-0.831602,0.185287,0.523552],[0.501203,-0.155702,0.851207]]
2025-10-27T14:57:09.512Z,1761577029.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:09.764Z,1761577029.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:09.896Z,1761577029.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241431,0.969788,0.034949],[-0.830018,0.187708,0.525201],[0.502774,-0.155808,0.850260]]
2025-10-27T14:57:10.016Z,1761577030.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:10.269Z,1761577030.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:10.279Z,1761577030.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243471,0.969330,0.033493],[-0.828604,0.189928,0.526634],[0.504120,-0.155972,0.849432]]
2025-10-27T14:57:10.520Z,1761577030.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:10.682Z,1761577030.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244576,0.969100,0.032050],[-0.827460,0.191371,0.527908],[0.505462,-0.155634,0.848697]]
2025-10-27T14:57:10.772Z,1761577030.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:11.024Z,1761577031.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:11.087Z,1761577031.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245698,0.968856,0.030820],[-0.826578,0.192796,0.528770],[0.506361,-0.155393,0.848205]]
2025-10-27T14:57:11.276Z,1761577031.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:11.490Z,1761577031.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246259,0.968753,0.029578],[-0.825875,0.193772,0.529512],[0.507235,-0.154825,0.847787]]
2025-10-27T14:57:11.528Z,1761577031.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:11.783Z,1761577031.783 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:11.904Z,1761577031.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246116,0.968817,0.028659],[-0.825336,0.193980,0.530275],[0.508180,-0.154162,0.847341]]
2025-10-27T14:57:12.032Z,1761577032.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:12.284Z,1761577032.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:12.299Z,1761577032.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245518,0.968944,0.029464],[-0.824964,0.192881,0.531254],[0.509073,-0.154740,0.846700]]
2025-10-27T14:57:12.536Z,1761577032.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:12.789Z,1761577032.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:13.040Z,1761577033.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:13.105Z,1761577033.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243192,0.969496,0.030600],[-0.824499,0.189997,0.533013],[0.510940,-0.154854,0.845553]]
2025-10-27T14:57:13.132Z,1761577033.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:57:13.292Z,1761577033.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:13.507Z,1761577033.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241609,0.969848,0.031936],[-0.824349,0.187778,0.534031],[0.511932,-0.155353,0.844862]]
2025-10-27T14:57:13.544Z,1761577033.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:13.799Z,1761577033.799 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:13.910Z,1761577033.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239831,0.970228,0.033743],[-0.824035,0.185071,0.535458],[0.513272,-0.156225,0.843887]]
2025-10-27T14:57:14.050Z,1761577034.050 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:14.305Z,1761577034.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:14.318Z,1761577034.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238118,0.970615,0.034724],[-0.823514,0.182817,0.537032],[0.514903,-0.156473,0.842847]]
2025-10-27T14:57:14.552Z,1761577034.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:14.719Z,1761577034.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236752,0.970905,0.035946],[-0.822716,0.180661,0.538980],[0.516804,-0.157178,0.841551]]
2025-10-27T14:57:14.804Z,1761577034.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:15.056Z,1761577035.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:15.121Z,1761577035.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235681,0.971177,0.035637],[-0.821917,0.179624,0.540543],[0.518561,-0.156687,0.840561]]
2025-10-27T14:57:15.308Z,1761577035.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:15.525Z,1761577035.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234936,0.971365,0.035434],[-0.820699,0.178699,0.542697],[0.520824,-0.156580,0.839181]]
2025-10-27T14:57:15.562Z,1761577035.562 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:15.814Z,1761577035.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:15.936Z,1761577035.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234971,0.971351,0.035565],[-0.819142,0.178189,0.545211],[0.523254,-0.157242,0.837544]]
2025-10-27T14:57:16.064Z,1761577036.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:16.316Z,1761577036.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:16.568Z,1761577036.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:16.750Z,1761577036.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239151,0.970547,0.029054],[-0.813216,0.183854,0.552158],[0.530553,-0.155676,0.833233]]
2025-10-27T14:57:16.820Z,1761577036.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:17.072Z,1761577037.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:17.146Z,1761577037.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241413,0.970174,0.021965],[-0.810871,0.189234,0.553786],[0.533112,-0.151502,0.832369]]
2025-10-27T14:57:17.324Z,1761577037.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:17.553Z,1761577037.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244201,0.969635,0.013196],[-0.808358,0.196030,0.555095],[0.535652,-0.146222,0.831683]]
2025-10-27T14:57:17.576Z,1761577037.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:17.830Z,1761577037.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:17.964Z,1761577037.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247203,0.968956,0.003855],[-0.805769,0.203357,0.556222],[0.538171,-0.140606,0.831025]]
2025-10-27T14:57:18.080Z,1761577038.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:18.332Z,1761577038.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:18.586Z,1761577038.586 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:18.836Z,1761577038.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:18.884Z,1761577038.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254375,0.967004,-0.013995],[-0.800231,0.218587,0.558435],[0.543068,-0.130853,0.829430]]
2025-10-27T14:57:19.088Z,1761577039.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:19.340Z,1761577039.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:19.386Z,1761577039.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258527,0.965783,-0.020649],[-0.797877,0.225534,0.559041],[0.544569,-0.128052,0.828883]]
2025-10-27T14:57:19.592Z,1761577039.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:19.844Z,1761577039.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:19.928Z,1761577039.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262653,0.964533,-0.026249],[-0.796080,0.231993,0.558959],[0.545224,-0.125916,0.828780]]
2025-10-27T14:57:20.096Z,1761577040.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:20.349Z,1761577040.349 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:20.365Z,1761577040.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270414,0.962002,-0.037788],[-0.793831,0.245005,0.556601],[0.544709,-0.120516,0.829920]]
2025-10-27T14:57:20.600Z,1761577040.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:20.757Z,1761577040.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273918,0.960881,-0.040936],[-0.793173,0.249772,0.555419],[0.543917,-0.119670,0.830562]]
2025-10-27T14:57:20.854Z,1761577040.854 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:21.104Z,1761577041.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:21.155Z,1761577041.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277203,0.959779,-0.044536],[-0.792620,0.254631,0.554000],[0.543057,-0.118271,0.831325]]
2025-10-27T14:57:21.357Z,1761577041.357 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:21.574Z,1761577041.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279834,0.958838,-0.048198],[-0.792311,0.259002,0.552413],[0.542158,-0.116396,0.832176]]
2025-10-27T14:57:21.608Z,1761577041.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:21.863Z,1761577041.863 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:21.971Z,1761577041.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281720,0.958187,-0.050112],[-0.792238,0.261757,0.551219],[0.541288,-0.115589,0.832854]]
2025-10-27T14:57:22.116Z,1761577042.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:22.371Z,1761577042.371 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:22.465Z,1761577042.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283162,0.957774,-0.049879],[-0.792585,0.262975,0.550140],[0.540027,-0.116245,0.833582]]
2025-10-27T14:57:22.623Z,1761577042.623 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:22.872Z,1761577042.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:22.878Z,1761577042.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284241,0.957564,-0.047721],[-0.793339,0.262858,0.549108],[0.538350,-0.118220,0.834388]]
2025-10-27T14:57:23.124Z,1761577043.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:23.343Z,1761577043.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284778,0.957606,-0.043505],[-0.794840,0.261257,0.547699],[0.535845,-0.121393,0.835544]]
2025-10-27T14:57:23.392Z,1761577043.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:23.644Z,1761577043.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:23.853Z,1761577043.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285919,0.957505,-0.037877],[-0.796948,0.259553,0.545441],[0.532093,-0.125766,0.837293]]
2025-10-27T14:57:23.912Z,1761577043.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:24.164Z,1761577044.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:24.230Z,1761577044.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286965,0.957408,-0.031967],[-0.799514,0.257754,0.542531],[0.527663,-0.130129,0.839427]]
2025-10-27T14:57:24.418Z,1761577044.418 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:24.636Z,1761577044.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287980,0.957247,-0.027324],[-0.802213,0.256725,0.539024],[0.522994,-0.133308,0.841847]]
2025-10-27T14:57:24.672Z,1761577044.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:24.924Z,1761577044.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:25.176Z,1761577045.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:25.428Z,1761577045.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:25.443Z,1761577045.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291887,0.956178,-0.022914],[-0.807807,0.259280,0.529360],[0.512103,-0.136003,0.848088]]
2025-10-27T14:57:25.680Z,1761577045.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:25.861Z,1761577045.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294553,0.955396,-0.021374],[-0.810789,0.261684,0.523586],[0.505825,-0.136894,0.851705]]
2025-10-27T14:57:25.932Z,1761577045.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:26.184Z,1761577046.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:26.436Z,1761577046.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:26.688Z,1761577046.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:26.727Z,1761577046.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300367,0.953644,-0.018514],[-0.817685,0.267441,0.509771],[0.491092,-0.137980,0.860111]]
2025-10-27T14:57:26.940Z,1761577046.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:27.121Z,1761577047.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304377,0.952398,-0.017088],[-0.821461,0.271528,0.501472],[0.482241,-0.138599,0.865005]]
2025-10-27T14:57:27.192Z,1761577047.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:27.444Z,1761577047.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:27.463Z,1761577047.463 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T14:57:27.526Z,1761577047.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307955,0.951236,-0.017691],[-0.825251,0.276329,0.492548],[0.473418,-0.137083,0.870105]]
2025-10-27T14:57:27.696Z,1761577047.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:27.930Z,1761577047.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311111,0.950209,-0.017686],[-0.829156,0.280477,0.483563],[0.464446,-0.135778,0.875131]]
2025-10-27T14:57:27.948Z,1761577047.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:28.201Z,1761577048.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:28.345Z,1761577048.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314347,0.949131,-0.018355],[-0.832947,0.285040,0.474291],[0.455397,-0.133803,0.880177]]
2025-10-27T14:57:28.452Z,1761577048.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:28.467Z,1761577048.467 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:57:28.704Z,1761577048.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:28.749Z,1761577048.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317229,0.948155,-0.019199],[-0.836650,0.289340,0.465079],[0.446522,-0.131473,0.885061]]
2025-10-27T14:57:28.956Z,1761577048.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:29.142Z,1761577049.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319488,0.947356,-0.021090],[-0.840438,0.293571,0.455500],[0.437712,-0.127801,0.889986]]
2025-10-27T14:57:29.221Z,1761577049.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:29.473Z,1761577049.473 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:29.546Z,1761577049.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321393,0.946655,-0.023474],[-0.844565,0.297768,0.445022],[0.428272,-0.123202,0.895212]]
2025-10-27T14:57:29.725Z,1761577049.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:29.953Z,1761577049.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322620,0.946253,-0.022846],[-0.848933,0.299945,0.435138],[0.418603,-0.120990,0.900074]]
2025-10-27T14:57:29.976Z,1761577049.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:30.228Z,1761577050.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:30.368Z,1761577050.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323860,0.946024,-0.012340],[-0.858188,0.299231,0.417103],[0.398282,-0.124493,0.908776]]
2025-10-27T14:57:30.480Z,1761577050.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:30.732Z,1761577050.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:30.765Z,1761577050.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325000,0.945688,-0.007061],[-0.862647,0.299505,0.407599],[0.387576,-0.126378,0.913134]]
2025-10-27T14:57:30.984Z,1761577050.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:31.167Z,1761577051.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326313,0.945259,-0.002345],[-0.866967,0.300272,0.397749],[0.376680,-0.127757,0.917491]]
2025-10-27T14:57:31.240Z,1761577051.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:31.492Z,1761577051.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:31.574Z,1761577051.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327789,0.944747,0.002687],[-0.871243,0.301183,0.387589],[0.365364,-0.129388,0.921829]]
2025-10-27T14:57:31.744Z,1761577051.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:31.974Z,1761577051.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329549,0.944117,0.006292],[-0.875461,0.303075,0.376448],[0.353504,-0.129567,0.926416]]
2025-10-27T14:57:31.996Z,1761577051.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:32.248Z,1761577052.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:32.374Z,1761577052.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331498,0.943411,0.009197],[-0.879581,0.305514,0.364691],[0.341244,-0.128984,0.931083]]
2025-10-27T14:57:32.500Z,1761577052.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:32.752Z,1761577052.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:32.778Z,1761577052.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333690,0.942622,0.010705],[-0.883500,0.308760,0.352271],[0.328753,-0.127008,0.935837]]
2025-10-27T14:57:33.004Z,1761577053.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:33.187Z,1761577053.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335589,0.941947,0.010758],[-0.887289,0.312239,0.339447],[0.316383,-0.123460,0.940563]]
2025-10-27T14:57:33.256Z,1761577053.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:33.508Z,1761577053.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:33.597Z,1761577053.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337829,0.941127,0.012276],[-0.890715,0.315464,0.327276],[0.304136,-0.121498,0.944849]]
2025-10-27T14:57:33.760Z,1761577053.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:33.993Z,1761577053.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339618,0.940474,0.012949],[-0.893924,0.318466,0.315403],[0.292505,-0.118692,0.948869]]
2025-10-27T14:57:34.012Z,1761577054.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:34.264Z,1761577054.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:34.399Z,1761577054.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341202,0.939886,0.013977],[-0.896851,0.321055,0.304274],[0.281495,-0.116354,0.952482]]
2025-10-27T14:57:34.518Z,1761577054.518 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:34.768Z,1761577054.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:34.802Z,1761577054.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342996,0.939200,0.016030],[-0.899421,0.323451,0.293976],[0.270917,-0.115250,0.955678]]
2025-10-27T14:57:35.020Z,1761577055.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:35.206Z,1761577055.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344798,0.938466,0.019872],[-0.901725,0.325269,0.284769],[0.260782,-0.116107,0.958390]]
2025-10-27T14:57:35.276Z,1761577055.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:35.528Z,1761577055.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:35.784Z,1761577055.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:36.013Z,1761577056.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348993,0.936690,0.028560],[-0.905449,0.329183,0.267956],[0.241590,-0.119374,0.963008]]
2025-10-27T14:57:36.032Z,1761577056.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:36.284Z,1761577056.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:36.418Z,1761577056.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351595,0.935481,0.035443],[-0.906845,0.330944,0.260976],[0.232409,-0.123899,0.964694]]
2025-10-27T14:57:36.536Z,1761577056.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:36.788Z,1761577056.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:36.830Z,1761577056.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355080,0.933943,0.040850],[-0.907863,0.334085,0.253321],[0.222940,-0.127036,0.966519]]
2025-10-27T14:57:37.040Z,1761577057.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:37.228Z,1761577057.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358588,0.932522,0.042635],[-0.908754,0.338274,0.244413],[0.213498,-0.126389,0.968733]]
2025-10-27T14:57:37.292Z,1761577057.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:37.544Z,1761577057.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:37.630Z,1761577057.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363340,0.930639,0.043522],[-0.908964,0.343856,0.235686],[0.204373,-0.125194,0.970854]]
2025-10-27T14:57:37.798Z,1761577057.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:38.033Z,1761577058.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368459,0.928631,0.043383],[-0.908822,0.349993,0.227041],[0.195654,-0.123083,0.972918]]
2025-10-27T14:57:38.048Z,1761577058.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:38.300Z,1761577058.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:38.438Z,1761577058.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373343,0.926674,0.043480],[-0.908661,0.355837,0.218440],[0.186950,-0.121062,0.974881]]
2025-10-27T14:57:38.552Z,1761577058.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:38.804Z,1761577058.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:38.850Z,1761577058.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377814,0.924882,0.043004],[-0.908449,0.361330,0.210144],[0.178820,-0.118462,0.976724]]
2025-10-27T14:57:39.056Z,1761577059.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:39.245Z,1761577059.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382440,0.922952,0.043571],[-0.908082,0.366732,0.202225],[0.170665,-0.116906,0.978369]]
2025-10-27T14:57:39.308Z,1761577059.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:39.560Z,1761577059.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:39.650Z,1761577059.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386173,0.921253,0.046514],[-0.907940,0.370723,0.195473],[0.162836,-0.117719,0.979605]]
2025-10-27T14:57:39.814Z,1761577059.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:40.056Z,1761577060.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389628,0.919603,0.050201],[-0.907849,0.374337,0.188895],[0.154916,-0.119174,0.980713]]
2025-10-27T14:57:40.064Z,1761577060.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:40.317Z,1761577060.317 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:40.545Z,1761577060.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392069,0.918319,0.054507],[-0.908058,0.376837,0.182826],[0.147352,-0.121176,0.981633]]
2025-10-27T14:57:40.568Z,1761577060.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:40.821Z,1761577060.821 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:41.023Z,1761577061.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393834,0.917290,0.058940],[-0.908437,0.378654,0.177097],[0.140132,-0.123290,0.982427]]
2025-10-27T14:57:41.072Z,1761577061.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:41.324Z,1761577061.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:41.425Z,1761577061.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394877,0.916470,0.064449],[-0.909003,0.379550,0.172207],[0.133361,-0.126585,0.982950]]
2025-10-27T14:57:41.431Z,1761577061.431 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T14:57:41.576Z,1761577061.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:41.832Z,1761577061.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:41.852Z,1761577061.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395692,0.915939,0.066959],[-0.909591,0.380795,0.166251],[0.126778,-0.126690,0.983807]]
2025-10-27T14:57:42.080Z,1761577062.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:42.236Z,1761577062.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395814,0.915852,0.067428],[-0.910357,0.381664,0.159946],[0.120752,-0.124692,0.984820]]
2025-10-27T14:57:42.333Z,1761577062.333 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:42.584Z,1761577062.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:42.638Z,1761577062.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395679,0.915814,0.068731],[-0.911153,0.382085,0.154308],[0.115056,-0.123681,0.985629]]
2025-10-27T14:57:42.837Z,1761577062.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:43.042Z,1761577063.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394977,0.915975,0.070584],[-0.912113,0.381812,0.149233],[0.109744,-0.123324,0.986280]]
2025-10-27T14:57:43.089Z,1761577063.089 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:43.340Z,1761577063.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:43.445Z,1761577063.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393945,0.916259,0.072644],[-0.913155,0.381158,0.144451],[0.104665,-0.123241,0.986842]]
2025-10-27T14:57:43.592Z,1761577063.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:43.844Z,1761577063.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:43.852Z,1761577063.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392777,0.916583,0.074847],[-0.914194,0.380319,0.140023],[0.099877,-0.123422,0.987315]]
2025-10-27T14:57:43.886Z,1761577063.886 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-10-27T14:57:43.904Z,1761577063.904 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-10-27T14:57:43.904Z,1761577063.904 [lineCaptureHoming:InitialDive] Stopped
2025-10-27T14:57:43.904Z,1761577063.904 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-10-27T14:57:43.904Z,1761577063.904 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-10-27T14:57:43.904Z,1761577063.904 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-10-27T14:57:43.904Z,1761577063.904 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-10-27T14:57:43.904Z,1761577063.904 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-10-27T14:57:43.904Z,1761577063.904 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-10-27T14:57:43.904Z,1761577063.904 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-10-27T14:57:43.905Z,1761577063.905 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-10-27T14:57:44.096Z,1761577064.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:44.254Z,1761577064.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391768,0.916845,0.076903],[-0.915121,0.379647,0.135728],[0.095246,-0.123550,0.987757]]
2025-10-27T14:57:44.276Z,1761577064.276 [lineCaptureHoming:RepeatHack] Stopped
2025-10-27T14:57:44.276Z,1761577064.276 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-10-27T14:57:44.276Z,1761577064.276 [lineCaptureHoming:RepeatHack:A] Stopped
2025-10-27T14:57:44.276Z,1761577064.276 [lineCaptureHoming:Lap] Running Loop=1
2025-10-27T14:57:44.276Z,1761577064.276 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-10-27T14:57:44.276Z,1761577064.276 [lineCaptureHoming:Lap:A] Running Loop=1
2025-10-27T14:57:44.349Z,1761577064.349 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:44.600Z,1761577064.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:44.658Z,1761577064.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390959,0.917096,0.078010],[-0.915901,0.379267,0.131459],[0.090974,-0.122844,0.988247]]
2025-10-27T14:57:44.694Z,1761577064.694 [lineCaptureHoming:Lap:A] Stopped
2025-10-27T14:57:44.694Z,1761577064.694 [lineCaptureHoming:Lap:B] Running Loop=1
2025-10-27T14:57:44.694Z,1761577064.694 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-10-27T14:57:44.852Z,1761577064.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:45.062Z,1761577065.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390425,0.917167,0.079832],[-0.916515,0.379020,0.127840],[0.086993,-0.123080,0.988577]]
2025-10-27T14:57:45.078Z,1761577065.078 [lineCaptureHoming:LineCapture] Running Loop=1
2025-10-27T14:57:45.078Z,1761577065.078 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-10-27T14:57:45.079Z,1761577065.079 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-10-27T14:57:45.079Z,1761577065.079 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-10-27T14:57:45.079Z,1761577065.079 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-27T14:57:45.079Z,1761577065.079 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-27T14:57:45.079Z,1761577065.079 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-27T14:57:45.079Z,1761577065.079 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-27T14:57:45.079Z,1761577065.079 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-27T14:57:45.080Z,1761577065.080 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-27T14:57:45.081Z,1761577065.081 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-27T14:57:45.081Z,1761577065.081 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-10-27T14:57:45.081Z,1761577065.081 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-27T14:57:45.081Z,1761577065.081 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-27T14:57:45.081Z,1761577065.081 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-10-27T14:57:45.081Z,1761577065.081 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-10-27T14:57:45.082Z,1761577065.082 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-10-27T14:57:45.082Z,1761577065.082 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-10-27T14:57:45.082Z,1761577065.082 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-10-27T14:57:45.083Z,1761577065.083 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-10-27T14:57:45.083Z,1761577065.083 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-27T14:57:45.083Z,1761577065.083 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-27T14:57:45.083Z,1761577065.083 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-27T14:57:45.084Z,1761577065.084 [lineCaptureHoming:LineCapture:A] Stopped
2025-10-27T14:57:45.084Z,1761577065.084 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-10-27T14:57:45.104Z,1761577065.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:45.356Z,1761577065.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:45.466Z,1761577065.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387898,0.918346,0.078587],[-0.917826,0.377048,0.124220],[0.084446,-0.120314,0.989138]]
2025-10-27T14:57:45.483Z,1761577065.483 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-27T14:57:45.483Z,1761577065.483 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-27T14:57:45.483Z,1761577065.483 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-27T14:57:45.484Z,1761577065.484 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 1.800000 m (mode  0.000000 count ).
2025-10-27T14:57:45.484Z,1761577065.484 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-27T14:57:45.484Z,1761577065.484 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-27T14:57:45.488Z,1761577065.488 [lineCaptureHoming:LineCapture:B] Stopped
2025-10-27T14:57:45.488Z,1761577065.488 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-10-27T14:57:45.608Z,1761577065.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:45.860Z,1761577065.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:45.874Z,1761577065.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385967,0.919708,0.071874],[-0.918874,0.376363,0.118415],[0.081856,-0.111748,0.990360]]
2025-10-27T14:57:45.909Z,1761577065.909 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-27T14:57:45.909Z,1761577065.909 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-27T14:57:45.910Z,1761577065.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:57:45.912Z,1761577065.912 [lineCaptureHoming:LineCapture:D] Stopped
2025-10-27T14:57:45.912Z,1761577065.912 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-10-27T14:57:46.112Z,1761577066.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:46.273Z,1761577066.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385434,0.920371,0.066015],[-0.919392,0.376969,0.112305],[0.078476,-0.103979,0.991479]]
2025-10-27T14:57:46.312Z,1761577066.312 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-27T14:57:46.312Z,1761577066.312 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-27T14:57:46.316Z,1761577066.316 [lineCaptureHoming:LineCapture:E] Stopped
2025-10-27T14:57:46.316Z,1761577066.316 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-10-27T14:57:46.364Z,1761577066.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:46.616Z,1761577066.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:46.678Z,1761577066.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385864,0.920400,0.063035],[-0.919545,0.378190,0.106817],[0.074475,-0.099180,0.992279]]
2025-10-27T14:57:46.698Z,1761577066.698 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-27T14:57:46.698Z,1761577066.698 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-27T14:57:46.698Z,1761577066.698 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-27T14:57:46.698Z,1761577066.698 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-27T14:57:46.700Z,1761577066.700 [lineCaptureHoming:LineCapture:F] Stopped
2025-10-27T14:57:46.701Z,1761577066.701 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-10-27T14:57:46.701Z,1761577066.701 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-10-27T14:57:46.701Z,1761577066.701 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-10-27T14:57:46.701Z,1761577066.701 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-27T14:57:46.701Z,1761577066.701 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-10-27T14:57:46.701Z,1761577066.701 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-27T14:57:46.701Z,1761577066.701 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-10-27T14:57:46.701Z,1761577066.701 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-10-27T14:57:46.702Z,1761577066.702 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-10-27T14:57:46.702Z,1761577066.702 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-27T14:57:46.702Z,1761577066.702 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-27T14:57:46.702Z,1761577066.702 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-10-27T14:57:46.702Z,1761577066.702 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-27T14:57:46.702Z,1761577066.702 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-27T14:57:46.702Z,1761577066.702 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-10-27T14:57:46.703Z,1761577066.703 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-27T14:57:46.703Z,1761577066.703 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-10-27T14:57:46.719Z,1761577066.719 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-10-27T14:57:46.719Z,1761577066.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-27T14:57:46.720Z,1761577066.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-27T14:57:46.720Z,1761577066.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-10-27T14:57:46.720Z,1761577066.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-27T14:57:46.721Z,1761577066.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-27T14:57:46.721Z,1761577066.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-27T14:57:46.721Z,1761577066.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-27T14:57:46.721Z,1761577066.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-10-27T14:57:46.721Z,1761577066.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-10-27T14:57:46.721Z,1761577066.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-27T14:57:46.722Z,1761577066.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-10-27T14:57:46.722Z,1761577066.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-10-27T14:57:46.722Z,1761577066.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-27T14:57:46.722Z,1761577066.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-27T14:57:46.722Z,1761577066.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-10-27T14:57:46.868Z,1761577066.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:47.115Z,1761577067.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-10-27T14:57:47.115Z,1761577067.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-27T14:57:47.115Z,1761577067.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-10-27T14:57:47.115Z,1761577067.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-27T14:57:47.115Z,1761577067.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-10-27T14:57:47.115Z,1761577067.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-10-27T14:57:47.116Z,1761577067.116 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-27T14:57:47.117Z,1761577067.117 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-10-27T14:57:47.117Z,1761577067.117 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-10-27T14:57:47.117Z,1761577067.117 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-10-27T14:57:47.117Z,1761577067.117 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-10-27T14:57:47.117Z,1761577067.117 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-10-27T14:57:47.117Z,1761577067.117 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-10-27T14:57:47.117Z,1761577067.117 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-10-27T14:57:47.118Z,1761577067.118 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.361225 m.
2025-10-27T14:57:47.120Z,1761577067.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:47.372Z,1761577067.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:47.485Z,1761577067.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388039,0.919823,0.057899],[-0.919317,0.381835,0.095176],[0.065437,-0.090160,0.993775]]
2025-10-27T14:57:47.560Z,1761577067.560 [DockingStepper](INFO): Changing to mode: 3
2025-10-27T14:57:47.624Z,1761577067.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:47.876Z,1761577067.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:47.890Z,1761577067.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389260,0.919430,0.055902],[-0.919138,0.383716,0.089152],[0.060519,-0.086085,0.994448]]
2025-10-27T14:57:47.940Z,1761577067.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:57:48.128Z,1761577068.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:48.294Z,1761577068.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390482,0.918977,0.054815],[-0.918923,0.385472,0.083618],[0.055713,-0.083022,0.994989]]
2025-10-27T14:57:48.380Z,1761577068.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:48.632Z,1761577068.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:48.698Z,1761577068.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392340,0.918134,0.055671],[-0.918438,0.387714,0.078421],[0.050417,-0.081898,0.995365]]
2025-10-27T14:57:48.884Z,1761577068.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:49.103Z,1761577069.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393828,0.917432,0.056720],[-0.918086,0.389593,0.073042],[0.044913,-0.080840,0.995715]]
2025-10-27T14:57:49.136Z,1761577069.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:49.388Z,1761577069.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:49.506Z,1761577069.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394865,0.916936,0.057539],[-0.917897,0.391047,0.067429],[0.039328,-0.079440,0.996064]]
2025-10-27T14:57:49.640Z,1761577069.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:49.892Z,1761577069.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:49.909Z,1761577069.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395764,0.916304,0.061300],[-0.917742,0.392187,0.062755],[0.033462,-0.081094,0.996145]]
2025-10-27T14:57:49.961Z,1761577069.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:57:50.144Z,1761577070.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:50.322Z,1761577070.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396273,0.915917,0.063754],[-0.917720,0.393056,0.057420],[0.027533,-0.081262,0.996312]]
2025-10-27T14:57:50.396Z,1761577070.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:50.648Z,1761577070.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:50.900Z,1761577070.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:51.121Z,1761577071.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397046,0.915413,0.066135],[-0.917676,0.394782,0.044926],[0.015017,-0.078528,0.996799]]
2025-10-27T14:57:51.152Z,1761577071.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:51.404Z,1761577071.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:51.525Z,1761577071.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397547,0.915159,0.066639],[-0.917542,0.395804,0.038154],[0.008541,-0.076312,0.997047]]
2025-10-27T14:57:51.656Z,1761577071.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:51.908Z,1761577071.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:51.933Z,1761577071.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398278,0.914807,0.067101],[-0.917263,0.397062,0.031157],[0.001859,-0.073958,0.997260]]
2025-10-27T14:57:51.968Z,1761577071.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:57:52.160Z,1761577072.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:52.333Z,1761577072.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399040,0.914425,0.067775],[-0.916920,0.398341,0.024119],[-0.004943,-0.071769,0.997409]]
2025-10-27T14:57:52.412Z,1761577072.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:52.664Z,1761577072.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:52.749Z,1761577072.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400584,0.913545,0.070488],[-0.916181,0.400374,0.017702],[-0.012051,-0.071671,0.997356]]
2025-10-27T14:57:52.916Z,1761577072.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:53.142Z,1761577073.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401830,0.912958,0.071000],[-0.915517,0.402143,0.010461],[-0.019002,-0.069205,0.997421]]
2025-10-27T14:57:53.168Z,1761577073.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:53.420Z,1761577073.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:53.545Z,1761577073.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403728,0.911979,0.072787],[-0.914502,0.404567,0.003483],[-0.026271,-0.067970,0.997341]]
2025-10-27T14:57:53.574Z,1761577073.574 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-27T14:57:53.672Z,1761577073.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:53.924Z,1761577073.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:53.949Z,1761577073.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404754,0.911478,0.073361],[-0.913819,0.406104,-0.003854],[-0.033305,-0.065479,0.997298]]
2025-10-27T14:57:53.997Z,1761577073.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:57:54.176Z,1761577074.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:54.353Z,1761577074.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406214,0.910618,0.075924],[-0.912882,0.408091,-0.010401],[-0.040456,-0.065085,0.997059]]
2025-10-27T14:57:54.428Z,1761577074.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:54.680Z,1761577074.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:54.765Z,1761577074.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408466,0.909476,0.077521],[-0.911530,0.410868,-0.017347],[-0.047628,-0.063577,0.996840]]
2025-10-27T14:57:54.932Z,1761577074.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:55.171Z,1761577075.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411402,0.907844,0.081040],[-0.909819,0.414360,-0.023111],[-0.054561,-0.064224,0.996443]]
2025-10-27T14:57:55.184Z,1761577075.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:55.436Z,1761577075.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:55.565Z,1761577075.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413909,0.906469,0.083632],[-0.908235,0.417428,-0.029398],[-0.061559,-0.063790,0.996063]]
2025-10-27T14:57:55.688Z,1761577075.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:55.940Z,1761577075.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:55.969Z,1761577075.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416150,0.905422,0.083848],[-0.906717,0.420142,-0.036674],[-0.068434,-0.060764,0.995803]]
2025-10-27T14:57:56.022Z,1761577076.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:57:56.192Z,1761577076.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:56.375Z,1761577076.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418351,0.904254,0.085484],[-0.905165,0.422858,-0.043212],[-0.075222,-0.059299,0.995402]]
2025-10-27T14:57:56.444Z,1761577076.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:56.696Z,1761577076.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:56.801Z,1761577076.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421586,0.902468,0.088417],[-0.902479,0.427078,-0.056008],[-0.088307,-0.056182,0.994508]]
2025-10-27T14:57:56.949Z,1761577076.949 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:57.190Z,1761577077.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422883,0.901616,0.090877],[-0.901176,0.428955,-0.062287],[-0.095141,-0.055556,0.993912]]
2025-10-27T14:57:57.200Z,1761577077.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:57.452Z,1761577077.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:57.591Z,1761577077.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423639,0.900862,0.094752],[-0.900103,0.430395,-0.067629],[-0.101706,-0.056636,0.993201]]
2025-10-27T14:57:57.704Z,1761577077.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:57.956Z,1761577077.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:58.007Z,1761577078.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424183,0.900210,0.098447],[-0.899093,0.431635,-0.072957],[-0.108169,-0.057566,0.992464]]
2025-10-27T14:57:58.049Z,1761577078.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:57:58.208Z,1761577078.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:58.401Z,1761577078.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424794,0.899712,0.100341],[-0.898035,0.432798,-0.078859],[-0.114378,-0.056611,0.991823]]
2025-10-27T14:57:58.460Z,1761577078.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:58.587Z,1761577078.587 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T14:57:58.712Z,1761577078.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:58.814Z,1761577078.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424850,0.899503,0.101965],[-0.897240,0.433368,-0.084571],[-0.120260,-0.055557,0.991187]]
2025-10-27T14:57:58.964Z,1761577078.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:59.206Z,1761577079.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425662,0.898927,0.103644],[-0.896016,0.434712,-0.090446],[-0.126360,-0.054368,0.990493]]
2025-10-27T14:57:59.216Z,1761577079.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:59.468Z,1761577079.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:59.591Z,1761577079.591 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:57:59.610Z,1761577079.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426691,0.898265,0.105137],[-0.894648,0.436253,-0.096372],[-0.132434,-0.052940,0.989777]]
2025-10-27T14:57:59.720Z,1761577079.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:57:59.972Z,1761577079.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:00.016Z,1761577080.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427749,0.897561,0.106841],[-0.893296,0.437819,-0.101671],[-0.138033,-0.051951,0.989064]]
2025-10-27T14:58:00.067Z,1761577080.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:00.224Z,1761577080.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:00.418Z,1761577080.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429004,0.896819,0.108035],[-0.891875,0.439500,-0.106762],[-0.143228,-0.050552,0.988398]]
2025-10-27T14:58:00.476Z,1761577080.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:00.728Z,1761577080.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:00.822Z,1761577080.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430417,0.895899,0.110027],[-0.890386,0.441422,-0.111171],[-0.148166,-0.050117,0.987692]]
2025-10-27T14:58:00.980Z,1761577080.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:01.225Z,1761577081.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432062,0.894722,0.113117],[-0.888775,0.443714,-0.114880],[-0.152978,-0.050900,0.986918]]
2025-10-27T14:58:01.232Z,1761577081.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:01.484Z,1761577081.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:01.630Z,1761577081.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433644,0.893606,0.115846],[-0.887201,0.445901,-0.118520],[-0.157566,-0.051383,0.986171]]
2025-10-27T14:58:01.736Z,1761577081.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:01.991Z,1761577081.991 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:02.033Z,1761577082.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435416,0.892515,0.117602],[-0.885543,0.448143,-0.122400],[-0.161946,-0.050846,0.985489]]
2025-10-27T14:58:02.079Z,1761577082.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:02.240Z,1761577082.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:02.437Z,1761577082.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437198,0.891492,0.118747],[-0.883907,0.450296,-0.126260],[-0.166031,-0.049761,0.984864]]
2025-10-27T14:58:02.492Z,1761577082.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:02.744Z,1761577082.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:02.842Z,1761577082.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439135,0.890255,0.120855],[-0.882177,0.452741,-0.129576],[-0.170072,-0.049715,0.984177]]
2025-10-27T14:58:02.996Z,1761577082.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:03.248Z,1761577083.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:03.257Z,1761577083.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441089,0.889020,0.122820],[-0.880459,0.455174,-0.132696],[-0.173873,-0.049607,0.983518]]
2025-10-27T14:58:03.500Z,1761577083.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:03.688Z,1761577083.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443051,0.887663,0.125541],[-0.878771,0.457721,-0.135107],[-0.177392,-0.050463,0.982846]]
2025-10-27T14:58:03.772Z,1761577083.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:04.024Z,1761577084.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:04.054Z,1761577084.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444604,0.886442,0.128639],[-0.877358,0.459907,-0.136849],[-0.180471,-0.052019,0.982204]]
2025-10-27T14:58:04.083Z,1761577084.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:04.276Z,1761577084.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:04.458Z,1761577084.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446343,0.885251,0.130801],[-0.875833,0.462143,-0.139072],[-0.183563,-0.052486,0.981606]]
2025-10-27T14:58:04.528Z,1761577084.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:04.784Z,1761577084.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:04.869Z,1761577084.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447861,0.884432,0.131154],[-0.874463,0.463861,-0.141938],[-0.186372,-0.051121,0.981148]]
2025-10-27T14:58:05.036Z,1761577085.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:05.289Z,1761577085.289 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:05.302Z,1761577085.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449292,0.883703,0.131167],[-0.873168,0.465424,-0.144767],[-0.188979,-0.049488,0.980733]]
2025-10-27T14:58:05.540Z,1761577085.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:05.708Z,1761577085.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450561,0.883083,0.130991],[-0.872030,0.466768,-0.147281],[-0.191204,-0.047869,0.980382]]
2025-10-27T14:58:05.792Z,1761577085.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:06.044Z,1761577086.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:06.073Z,1761577086.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452084,0.882211,0.131621],[-0.870781,0.468486,-0.149202],[-0.193291,-0.047161,0.980007]]
2025-10-27T14:58:06.094Z,1761577086.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:06.296Z,1761577086.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:06.479Z,1761577086.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453366,0.881257,0.133587],[-0.869728,0.470177,-0.150027],[-0.195022,-0.048167,0.979616]]
2025-10-27T14:58:06.549Z,1761577086.549 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:06.800Z,1761577086.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:06.881Z,1761577086.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454941,0.880123,0.135691],[-0.868554,0.472172,-0.150559],[-0.196580,-0.049360,0.979245]]
2025-10-27T14:58:07.052Z,1761577087.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:07.292Z,1761577087.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456483,0.879102,0.137123],[-0.867479,0.474001,-0.151005],[-0.197745,-0.050020,0.978976]]
2025-10-27T14:58:07.304Z,1761577087.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:07.556Z,1761577087.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:07.704Z,1761577087.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458181,0.878074,0.138044],[-0.866353,0.475888,-0.151536],[-0.198753,-0.050164,0.978765]]
2025-10-27T14:58:07.808Z,1761577087.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:08.060Z,1761577088.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:08.096Z,1761577088.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459825,0.877177,0.138280],[-0.865312,0.477588,-0.152133],[-0.199488,-0.049701,0.978639]]
2025-10-27T14:58:08.131Z,1761577088.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:08.312Z,1761577088.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:08.497Z,1761577088.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461512,0.876328,0.138043],[-0.864324,0.479227,-0.152596],[-0.199878,-0.048889,0.978600]]
2025-10-27T14:58:08.564Z,1761577088.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:08.816Z,1761577088.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:08.901Z,1761577088.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463444,0.875368,0.137665],[-0.863238,0.481073,-0.152932],[-0.200098,-0.047962,0.978601]]
2025-10-27T14:58:09.068Z,1761577089.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:09.306Z,1761577089.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465101,0.874451,0.137900],[-0.862395,0.482732,-0.152461],[-0.199889,-0.048015,0.978642]]
2025-10-27T14:58:09.320Z,1761577089.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:09.572Z,1761577089.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:09.716Z,1761577089.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467038,0.873225,0.139118],[-0.861406,0.484834,-0.151380],[-0.199638,-0.049137,0.978637]]
2025-10-27T14:58:09.824Z,1761577089.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:10.076Z,1761577090.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:10.114Z,1761577090.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468882,0.872211,0.139273],[-0.860521,0.486645,-0.150599],[-0.199131,-0.049235,0.978735]]
2025-10-27T14:58:10.156Z,1761577090.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:10.328Z,1761577090.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:10.517Z,1761577090.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470723,0.871296,0.138790],[-0.859659,0.488337,-0.150045],[-0.198510,-0.048683,0.978889]]
2025-10-27T14:58:10.580Z,1761577090.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:10.832Z,1761577090.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:10.922Z,1761577090.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472472,0.870338,0.138859],[-0.858885,0.490023,-0.148977],[-0.197704,-0.048876,0.979042]]
2025-10-27T14:58:11.084Z,1761577091.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:11.326Z,1761577091.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473863,0.869422,0.139857],[-0.858350,0.491503,-0.147174],[-0.196697,-0.050306,0.979173]]
2025-10-27T14:58:11.336Z,1761577091.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:11.588Z,1761577091.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:11.740Z,1761577091.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475295,0.868553,0.140397],[-0.857799,0.492941,-0.145569],[-0.195642,-0.051245,0.979336]]
2025-10-27T14:58:11.840Z,1761577091.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:12.092Z,1761577092.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:12.134Z,1761577092.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476621,0.867895,0.139970],[-0.857297,0.494113,-0.144551],[-0.194616,-0.051100,0.979548]]
2025-10-27T14:58:12.181Z,1761577092.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:12.344Z,1761577092.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:12.538Z,1761577092.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477924,0.867453,0.138256],[-0.856856,0.495037,-0.144004],[-0.193358,-0.049643,0.979872]]
2025-10-27T14:58:12.596Z,1761577092.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:12.848Z,1761577092.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:12.946Z,1761577092.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479065,0.867048,0.136836],[-0.856529,0.495846,-0.143159],[-0.191976,-0.048622,0.980194]]
2025-10-27T14:58:13.100Z,1761577093.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:13.347Z,1761577093.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480075,0.866594,0.136172],[-0.856291,0.496648,-0.141796],[-0.190509,-0.048530,0.980485]]
2025-10-27T14:58:13.352Z,1761577093.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:13.604Z,1761577093.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:13.761Z,1761577093.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481011,0.866144,0.135728],[-0.856076,0.497419,-0.140384],[-0.189107,-0.048667,0.980750]]
2025-10-27T14:58:13.842Z,1761577093.842 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 1.80 m. Transitioning docking module to standby.
2025-10-27T14:58:13.856Z,1761577093.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:14.108Z,1761577094.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:14.153Z,1761577094.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481914,0.865773,0.134890],[-0.855905,0.498086,-0.139054],[-0.187576,-0.048441,0.981055]]
2025-10-27T14:58:14.198Z,1761577094.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:14.257Z,1761577094.257 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T14:58:14.360Z,1761577094.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:14.558Z,1761577094.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482777,0.865291,0.134899],[-0.855772,0.498846,-0.137139],[-0.185959,-0.049235,0.981323]]
2025-10-27T14:58:14.612Z,1761577094.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:14.866Z,1761577094.866 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:14.968Z,1761577094.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484673,0.864120,0.135607],[-0.855011,0.500743,-0.134955],[-0.184521,-0.050536,0.981528]]
2025-10-27T14:58:15.116Z,1761577095.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:15.365Z,1761577095.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485993,0.863469,0.135027],[-0.854644,0.501849,-0.133159],[-0.182741,-0.050686,0.981854]]
2025-10-27T14:58:15.368Z,1761577095.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:15.620Z,1761577095.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:15.776Z,1761577095.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487560,0.862846,0.133350],[-0.854134,0.503031,-0.131962],[-0.180942,-0.049559,0.982244]]
2025-10-27T14:58:15.874Z,1761577095.874 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:16.124Z,1761577096.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:16.174Z,1761577096.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489259,0.862276,0.130789],[-0.853512,0.504223,-0.131443],[-0.179287,-0.047320,0.982658]]
2025-10-27T14:58:16.222Z,1761577096.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:16.376Z,1761577096.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:16.578Z,1761577096.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490706,0.861714,0.129061],[-0.853073,0.505286,-0.130201],[-0.177409,-0.046208,0.983052]]
2025-10-27T14:58:16.628Z,1761577096.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:16.882Z,1761577096.882 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:16.989Z,1761577096.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492360,0.860606,0.130153],[-0.852481,0.506985,-0.127443],[-0.175664,-0.048206,0.983269]]
2025-10-27T14:58:17.132Z,1761577097.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:17.384Z,1761577097.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:17.387Z,1761577097.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493695,0.859589,0.131801],[-0.852125,0.508427,-0.124037],[-0.173632,-0.051075,0.983485]]
2025-10-27T14:58:17.636Z,1761577097.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:17.789Z,1761577097.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494782,0.858946,0.131917],[-0.851867,0.509406,-0.121772],[-0.171795,-0.052125,0.983753]]
2025-10-27T14:58:17.890Z,1761577097.890 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:18.140Z,1761577098.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:18.196Z,1761577098.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495942,0.858675,0.129298],[-0.851569,0.510069,-0.121079],[-0.169918,-0.050058,0.984186]]
2025-10-27T14:58:18.235Z,1761577098.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:18.392Z,1761577098.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:18.597Z,1761577098.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496587,0.858845,0.125644],[-0.851609,0.510073,-0.120781],[-0.167820,-0.047022,0.984696]]
2025-10-27T14:58:18.645Z,1761577098.645 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:18.898Z,1761577098.898 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:19.001Z,1761577099.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497365,0.858636,0.123988],[-0.851528,0.510506,-0.119513],[-0.165915,-0.046138,0.985060]]
2025-10-27T14:58:19.148Z,1761577099.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:19.400Z,1761577099.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:19.408Z,1761577099.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497586,0.858589,0.123424],[-0.851790,0.510536,-0.117497],[-0.163894,-0.046667,0.985373]]
2025-10-27T14:58:19.652Z,1761577099.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:19.812Z,1761577099.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497491,0.858765,0.122575],[-0.852238,0.510215,-0.115637],[-0.161845,-0.046934,0.985700]]
2025-10-27T14:58:19.906Z,1761577099.906 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:20.156Z,1761577100.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:20.213Z,1761577100.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496981,0.859178,0.121751],[-0.852901,0.509493,-0.113914],[-0.159904,-0.047229,0.986002]]
2025-10-27T14:58:20.302Z,1761577100.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:20.312Z,1761577100.312 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-10-27T14:58:20.411Z,1761577100.411 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:20.617Z,1761577100.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495790,0.859892,0.121564],[-0.853981,0.508173,-0.111701],[-0.157827,-0.048433,0.986278]]
2025-10-27T14:58:20.635Z,1761577100.635 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-10-27T14:58:20.635Z,1761577100.635 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-10-27T14:58:20.636Z,1761577100.636 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-10-27T14:58:20.660Z,1761577100.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:20.913Z,1761577100.913 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:21.023Z,1761577101.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495027,0.860240,0.122210],[-0.854750,0.507398,-0.109314],[-0.156045,-0.050345,0.986466]]
2025-10-27T14:58:21.075Z,1761577101.075 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-10-27T14:58:21.075Z,1761577101.075 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-10-27T14:58:21.075Z,1761577101.075 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-10-27T14:58:21.164Z,1761577101.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:21.420Z,1761577101.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:21.429Z,1761577101.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493624,0.861140,0.121541],[-0.855756,0.505861,-0.108563],[-0.154971,-0.050420,0.986631]]
2025-10-27T14:58:21.454Z,1761577101.454 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-10-27T14:58:21.454Z,1761577101.454 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-27T14:58:21.454Z,1761577101.454 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-10-27T14:58:21.455Z,1761577101.455 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-27T14:58:21.455Z,1761577101.455 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-27T14:58:21.672Z,1761577101.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:21.829Z,1761577101.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492847,0.861943,0.118980],[-0.856524,0.504666,-0.108069],[-0.153194,-0.048648,0.986998]]
2025-10-27T14:58:21.855Z,1761577101.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-27T14:58:21.855Z,1761577101.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-27T14:58:21.855Z,1761577101.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-10-27T14:58:21.855Z,1761577101.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-27T14:58:21.855Z,1761577101.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-27T14:58:21.855Z,1761577101.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-10-27T14:58:21.855Z,1761577101.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-27T14:58:21.856Z,1761577101.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-10-27T14:58:21.856Z,1761577101.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-10-27T14:58:21.856Z,1761577101.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-27T14:58:21.856Z,1761577101.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-27T14:58:21.857Z,1761577101.857 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-27T14:58:21.858Z,1761577101.858 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )
2025-10-27T14:58:21.858Z,1761577101.858 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-10-27T14:58:21.858Z,1761577101.858 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-10-27T14:58:21.858Z,1761577101.858 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-10-27T14:58:21.859Z,1761577101.859 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630
2025-10-27T14:58:21.927Z,1761577101.927 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:22.176Z,1761577102.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:22.238Z,1761577102.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492216,0.862673,0.116272],[-0.857192,0.503606,-0.107711],[-0.151475,-0.046650,0.987360]]
2025-10-27T14:58:22.310Z,1761577102.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:22.317Z,1761577102.317 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630
2025-10-27T14:58:22.429Z,1761577102.429 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:22.680Z,1761577102.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:22.934Z,1761577102.934 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:23.041Z,1761577103.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491198,0.863586,0.113772],[-0.858286,0.502132,-0.105869],[-0.148555,-0.045647,0.987850]]
2025-10-27T14:58:23.184Z,1761577103.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:23.436Z,1761577103.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:23.450Z,1761577103.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490959,0.863645,0.114355],[-0.858724,0.501870,-0.103535],[-0.146809,-0.047368,0.988030]]
2025-10-27T14:58:23.688Z,1761577103.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:23.942Z,1761577103.942 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:24.192Z,1761577104.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:24.263Z,1761577104.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491040,0.863654,0.113936],[-0.859155,0.501744,-0.100528],[-0.143988,-0.048525,0.988389]]
2025-10-27T14:58:24.444Z,1761577104.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:24.658Z,1761577104.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491216,0.863703,0.112796],[-0.859276,0.501712,-0.099649],[-0.142659,-0.047974,0.988609]]
2025-10-27T14:58:24.675Z,1761577104.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:24.696Z,1761577104.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:24.948Z,1761577104.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:25.068Z,1761577105.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491514,0.863571,0.112517],[-0.859348,0.501893,-0.098102],[-0.141189,-0.048473,0.988795]]
2025-10-27T14:58:25.200Z,1761577105.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:25.452Z,1761577105.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:25.470Z,1761577105.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491662,0.863451,0.112786],[-0.859578,0.501960,-0.095722],[-0.139265,-0.049886,0.988998]]
2025-10-27T14:58:25.704Z,1761577105.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:25.870Z,1761577105.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491881,0.863294,0.113032],[-0.859735,0.502101,-0.093542],[-0.137508,-0.051166,0.989178]]
2025-10-27T14:58:25.956Z,1761577105.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:26.208Z,1761577106.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:26.274Z,1761577106.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492244,0.863011,0.113608],[-0.859769,0.502431,-0.091430],[-0.135985,-0.052671,0.989310]]
2025-10-27T14:58:26.460Z,1761577106.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:26.678Z,1761577106.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493876,0.861747,0.116094],[-0.858914,0.504279,-0.089273],[-0.135475,-0.055625,0.989218]]
2025-10-27T14:58:26.695Z,1761577106.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:26.712Z,1761577106.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:26.964Z,1761577106.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:27.085Z,1761577107.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495299,0.859602,0.125553],[-0.858139,0.506619,-0.083273],[-0.135189,-0.066497,0.988586]]
2025-10-27T14:58:27.218Z,1761577107.218 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:27.468Z,1761577107.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:27.511Z,1761577107.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495032,0.858275,0.135309],[-0.858492,0.507152,-0.076084],[-0.133924,-0.078497,0.987878]]
2025-10-27T14:58:27.721Z,1761577107.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:27.909Z,1761577107.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493558,0.858379,0.139948],[-0.859588,0.505937,-0.071665],[-0.132320,-0.084927,0.987562]]
2025-10-27T14:58:27.972Z,1761577107.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:28.225Z,1761577108.225 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:28.314Z,1761577108.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491191,0.859768,0.139754],[-0.861265,0.503363,-0.069621],[-0.130205,-0.086168,0.987736]]
2025-10-27T14:58:28.476Z,1761577108.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:28.725Z,1761577108.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488440,0.861662,0.137715],[-0.863127,0.500273,-0.068840],[-0.128212,-0.085241,0.988077]]
2025-10-27T14:58:28.729Z,1761577108.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:28.773Z,1761577108.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:28.980Z,1761577108.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:29.232Z,1761577109.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:29.484Z,1761577109.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:29.661Z,1761577109.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475651,0.868520,0.139391],[-0.871126,0.487085,-0.062356],[-0.122052,-0.091767,0.988272]]
2025-10-27T14:58:29.711Z,1761577109.711 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T14:58:29.737Z,1761577109.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:29.988Z,1761577109.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:30.129Z,1761577110.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469966,0.871313,0.141229],[-0.874489,0.481356,-0.059700],[-0.119999,-0.095446,0.988175]]
2025-10-27T14:58:30.240Z,1761577110.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:30.495Z,1761577110.495 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:30.611Z,1761577110.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463722,0.874110,0.144547],[-0.878080,0.475168,-0.056480],[-0.118054,-0.100733,0.987885]]
2025-10-27T14:58:30.716Z,1761577110.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:58:30.745Z,1761577110.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:30.996Z,1761577110.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:31.014Z,1761577111.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457143,0.877062,0.147588],[-0.881770,0.468621,-0.053624],[-0.116194,-0.105625,0.987594]]
2025-10-27T14:58:31.030Z,1761577111.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:31.248Z,1761577111.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:31.419Z,1761577111.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450043,0.880200,0.150696],[-0.885718,0.461485,-0.050355],[-0.113867,-0.110812,0.987297]]
2025-10-27T14:58:31.500Z,1761577111.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:31.753Z,1761577111.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:31.821Z,1761577111.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442780,0.883424,0.153324],[-0.889702,0.454104,-0.047114],[-0.111247,-0.115551,0.987052]]
2025-10-27T14:58:32.004Z,1761577112.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:32.237Z,1761577112.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435574,0.886407,0.156709],[-0.893613,0.446754,-0.043205],[-0.108308,-0.121218,0.986699]]
2025-10-27T14:58:32.256Z,1761577112.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:32.508Z,1761577112.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:32.637Z,1761577112.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428743,0.889186,0.159776],[-0.897296,0.439690,-0.039160],[-0.105073,-0.126576,0.986376]]
2025-10-27T14:58:32.761Z,1761577112.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:33.012Z,1761577113.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:33.034Z,1761577113.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422050,0.892245,0.160536],[-0.900871,0.432597,-0.035941],[-0.101516,-0.129453,0.986375]]
2025-10-27T14:58:33.122Z,1761577113.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:33.264Z,1761577113.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:33.516Z,1761577113.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:33.529Z,1761577113.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416389,0.895030,0.159816],[-0.903894,0.426459,-0.033301],[-0.097961,-0.130590,0.986585]]
2025-10-27T14:58:33.772Z,1761577113.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:33.931Z,1761577113.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411920,0.897414,0.158019],[-0.906311,0.421469,-0.031039],[-0.094455,-0.130429,0.986948]]
2025-10-27T14:58:34.025Z,1761577114.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:34.272Z,1761577114.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:34.337Z,1761577114.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408809,0.899167,0.156120],[-0.908079,0.417822,-0.028573],[-0.090922,-0.130089,0.987325]]
2025-10-27T14:58:34.526Z,1761577114.526 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:34.750Z,1761577114.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407405,0.900580,0.151583],[-0.909041,0.415816,-0.027229],[-0.087552,-0.126702,0.988069]]
2025-10-27T14:58:34.776Z,1761577114.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:35.028Z,1761577115.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:35.187Z,1761577115.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408148,0.901681,0.142781],[-0.909024,0.415833,-0.027545],[-0.084210,-0.118549,0.989371]]
2025-10-27T14:58:35.259Z,1761577115.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:35.288Z,1761577115.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:35.540Z,1761577115.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:35.552Z,1761577115.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411627,0.902188,0.128918],[-0.907736,0.418461,-0.030112],[-0.081114,-0.104628,0.991198]]
2025-10-27T14:58:35.792Z,1761577115.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:35.950Z,1761577115.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418177,0.901567,0.110931],[-0.904982,0.424032,-0.034709],[-0.078331,-0.085876,0.993222]]
2025-10-27T14:58:36.044Z,1761577116.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:36.296Z,1761577116.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:36.354Z,1761577116.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427893,0.899084,0.092499],[-0.900630,0.432743,-0.039987],[-0.075980,-0.066197,0.994910]]
2025-10-27T14:58:36.548Z,1761577116.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:36.762Z,1761577116.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439733,0.894996,0.074952],[-0.895116,0.443558,-0.044977],[-0.073500,-0.047313,0.996172]]
2025-10-27T14:58:36.800Z,1761577116.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:37.052Z,1761577117.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:37.202Z,1761577117.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452937,0.889612,0.058637],[-0.888709,0.455759,-0.049795],[-0.071023,-0.029557,0.997037]]
2025-10-27T14:58:37.276Z,1761577117.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:37.306Z,1761577117.306 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:37.556Z,1761577117.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:37.567Z,1761577117.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466756,0.883369,0.042402],[-0.881733,0.468532,-0.055003],[-0.068454,-0.011714,0.997585]]
2025-10-27T14:58:37.808Z,1761577117.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:37.969Z,1761577117.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481822,0.875808,0.028404],[-0.873777,0.482643,-0.059742],[-0.066032,0.003966,0.997810]]
2025-10-27T14:58:38.060Z,1761577118.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:38.312Z,1761577118.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:38.374Z,1761577118.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497427,0.867310,0.018418],[-0.865181,0.497536,-0.062610],[-0.063466,0.015209,0.997868]]
2025-10-27T14:58:38.564Z,1761577118.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:38.780Z,1761577118.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513579,0.857970,0.011093],[-0.855886,0.513162,-0.064218],[-0.060789,0.023487,0.997874]]
2025-10-27T14:58:38.816Z,1761577118.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:39.071Z,1761577119.071 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:39.217Z,1761577119.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530376,0.847732,0.007214],[-0.845754,0.529686,-0.064293],[-0.058325,0.027999,0.997905]]
2025-10-27T14:58:39.320Z,1761577119.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:39.572Z,1761577119.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:39.587Z,1761577119.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547345,0.836900,0.003561],[-0.835035,0.546400,-0.064523],[-0.055945,0.032343,0.997910]]
2025-10-27T14:58:39.624Z,1761577119.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:39.824Z,1761577119.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:39.989Z,1761577119.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564685,0.825306,0.001037],[-0.823543,0.563559,-0.064636],[-0.053929,0.035645,0.997908]]
2025-10-27T14:58:40.076Z,1761577120.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:40.329Z,1761577120.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:40.580Z,1761577120.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:40.798Z,1761577120.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600423,0.799682,-0.000984],[-0.798043,0.599114,-0.064728],[-0.051172,0.039649,0.997902]]
2025-10-27T14:58:40.833Z,1761577120.833 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:41.084Z,1761577121.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:41.234Z,1761577121.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618009,0.786167,-0.002504],[-0.784579,0.616552,-0.065574],[-0.050008,0.042490,0.997845]]
2025-10-27T14:58:41.336Z,1761577121.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:41.588Z,1761577121.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:41.606Z,1761577121.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636025,0.771658,-0.004017],[-0.770083,0.634376,-0.067381],[-0.049447,0.045949,0.997719]]
2025-10-27T14:58:41.842Z,1761577121.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:42.010Z,1761577122.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653453,0.756952,-0.004769],[-0.755386,0.651667,-0.068722],[-0.048911,0.048509,0.997624]]
2025-10-27T14:58:42.038Z,1761577122.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:42.097Z,1761577122.097 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:42.350Z,1761577122.350 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:42.415Z,1761577122.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670736,0.741676,-0.005374],[-0.740125,0.668827,-0.069902],[-0.048250,0.050863,0.997539]]
2025-10-27T14:58:42.604Z,1761577122.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:42.817Z,1761577122.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687799,0.725883,-0.005110],[-0.724327,0.685827,-0.070658],[-0.047785,0.052300,0.997487]]
2025-10-27T14:58:42.856Z,1761577122.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:43.108Z,1761577123.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:43.228Z,1761577123.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704346,0.709842,-0.004565],[-0.708286,0.702347,-0.070990],[-0.047185,0.053235,0.997467]]
2025-10-27T14:58:43.360Z,1761577123.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:43.612Z,1761577123.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:43.627Z,1761577123.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720728,0.693209,-0.003606],[-0.691649,0.718737,-0.070977],[-0.046610,0.053649,0.997471]]
2025-10-27T14:58:43.864Z,1761577123.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:44.036Z,1761577124.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736600,0.676320,-0.003362],[-0.674775,0.734562,-0.071396],[-0.045817,0.054859,0.997442]]
2025-10-27T14:58:44.053Z,1761577124.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:44.116Z,1761577124.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:44.368Z,1761577124.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:44.443Z,1761577124.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766227,0.642568,-0.001504],[-0.641051,0.764253,-0.070504],[-0.044154,0.054986,0.997510]]
2025-10-27T14:58:44.621Z,1761577124.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:44.842Z,1761577124.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780434,0.625238,-0.000452],[-0.623712,0.778477,-0.070400],[-0.043664,0.055224,0.997519]]
2025-10-27T14:58:44.872Z,1761577124.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:45.124Z,1761577125.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:45.249Z,1761577125.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794455,0.607322,0.000930],[-0.605775,0.792540,-0.070121],[-0.043323,0.055145,0.997538]]
2025-10-27T14:58:45.376Z,1761577125.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:45.628Z,1761577125.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:45.654Z,1761577125.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807888,0.589334,0.001639],[-0.587771,0.805941,-0.070591],[-0.042922,0.056066,0.997504]]
2025-10-27T14:58:45.880Z,1761577125.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:46.052Z,1761577126.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821343,0.570430,0.002259],[-0.568820,0.819309,-0.071954],[-0.042895,0.057814,0.997405]]
2025-10-27T14:58:46.081Z,1761577126.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:46.132Z,1761577126.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:46.384Z,1761577126.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:46.454Z,1761577126.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834618,0.550819,0.003337],[-0.549179,0.832570,-0.072309],[-0.042608,0.058518,0.997377]]
2025-10-27T14:58:46.636Z,1761577126.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:46.865Z,1761577126.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847402,0.530927,0.005078],[-0.529227,0.845381,-0.072461],[-0.042764,0.058716,0.997358]]
2025-10-27T14:58:46.888Z,1761577126.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:47.142Z,1761577127.142 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:47.268Z,1761577127.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860052,0.510166,0.006445],[-0.508380,0.857972,-0.073711],[-0.043135,0.060119,0.997259]]
2025-10-27T14:58:47.393Z,1761577127.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:47.644Z,1761577127.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:47.666Z,1761577127.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872370,0.488776,0.008301],[-0.486870,0.870242,-0.075078],[-0.043920,0.061454,0.997143]]
2025-10-27T14:58:47.896Z,1761577127.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:48.070Z,1761577128.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884137,0.467132,0.009469],[-0.465066,0.881813,-0.078219],[-0.044889,0.064753,0.996891]]
2025-10-27T14:58:48.086Z,1761577128.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:48.148Z,1761577128.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:48.400Z,1761577128.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:48.474Z,1761577128.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895185,0.445546,0.011476],[-0.443326,0.892785,-0.079984],[-0.045882,0.066513,0.996730]]
2025-10-27T14:58:48.652Z,1761577128.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:48.879Z,1761577128.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905734,0.423567,0.015381],[-0.421282,0.903647,-0.077087],[-0.046551,0.063341,0.996906]]
2025-10-27T14:58:48.904Z,1761577128.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:49.158Z,1761577129.158 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:49.282Z,1761577129.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915704,0.401416,0.018770],[-0.399072,0.913857,-0.074876],[-0.047209,0.061074,0.997016]]
2025-10-27T14:58:49.408Z,1761577129.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:49.660Z,1761577129.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:49.693Z,1761577129.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925063,0.379203,0.021528],[-0.376816,0.923393,-0.073179],[-0.047628,0.059583,0.997086]]
2025-10-27T14:58:49.912Z,1761577129.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:50.090Z,1761577130.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933905,0.356737,0.023677],[-0.354272,0.932293,-0.072952],[-0.048098,0.059742,0.997054]]
2025-10-27T14:58:50.106Z,1761577130.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:50.164Z,1761577130.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:50.416Z,1761577130.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:50.495Z,1761577130.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942201,0.334026,0.026154],[-0.331501,0.940709,-0.071926],[-0.048629,0.059098,0.997067]]
2025-10-27T14:58:50.672Z,1761577130.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:50.897Z,1761577130.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949988,0.310992,0.028407],[-0.308412,0.948596,-0.071042],[-0.049040,0.058728,0.997069]]
2025-10-27T14:58:50.920Z,1761577130.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:51.174Z,1761577131.174 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:51.301Z,1761577131.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957155,0.287952,0.030639],[-0.285320,0.955866,-0.070092],[-0.049470,0.058347,0.997070]]
2025-10-27T14:58:51.424Z,1761577131.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:51.677Z,1761577131.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:51.712Z,1761577131.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963724,0.265008,0.031746],[-0.262248,0.962312,-0.071986],[-0.049627,0.061050,0.996900]]
2025-10-27T14:58:51.928Z,1761577131.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:52.141Z,1761577132.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:52.181Z,1761577132.181 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:52.432Z,1761577132.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:52.513Z,1761577132.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975197,0.218390,0.036001],[-0.215508,0.973953,-0.070514],[-0.050463,0.061007,0.996861]]
2025-10-27T14:58:52.685Z,1761577132.685 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:52.917Z,1761577132.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980080,0.195013,0.037579],[-0.192025,0.978798,-0.071287],[-0.050684,0.062651,0.996748]]
2025-10-27T14:58:52.936Z,1761577132.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:53.190Z,1761577133.190 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:53.321Z,1761577133.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984401,0.171502,0.039255],[-0.168385,0.983065,-0.072321],[-0.050993,0.064583,0.996609]]
2025-10-27T14:58:53.441Z,1761577133.441 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:53.693Z,1761577133.693 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:53.729Z,1761577133.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988202,0.147487,0.041274],[-0.144285,0.986910,-0.072038],[-0.051358,0.065233,0.996547]]
2025-10-27T14:58:53.944Z,1761577133.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:54.129Z,1761577134.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991414,0.123437,0.043137],[-0.120178,0.990182,-0.071385],[-0.051525,0.065588,0.996516]]
2025-10-27T14:58:54.153Z,1761577134.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:54.197Z,1761577134.197 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:54.448Z,1761577134.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:54.534Z,1761577134.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994099,0.098541,0.045344],[-0.095347,0.993125,-0.067915],[-0.051725,0.063191,0.996660]]
2025-10-27T14:58:54.701Z,1761577134.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:54.940Z,1761577134.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996185,0.073638,0.046820],[-0.070456,0.995307,-0.066329],[-0.051485,0.062777,0.996699]]
2025-10-27T14:58:54.952Z,1761577134.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:55.204Z,1761577135.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:55.351Z,1761577135.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997674,0.047981,0.048425],[-0.044759,0.996844,-0.065561],[-0.051418,0.063241,0.996673]]
2025-10-27T14:58:55.461Z,1761577135.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:55.712Z,1761577135.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:55.753Z,1761577135.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998515,0.021678,0.049969],[-0.018433,0.997747,-0.064503],[-0.051255,0.063487,0.996666]]
2025-10-27T14:58:55.964Z,1761577135.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:56.149Z,1761577136.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998668,-0.004185,0.051431],[0.007367,0.998059,-0.061841],[-0.051072,0.062137,0.996760]]
2025-10-27T14:58:56.203Z,1761577136.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:56.216Z,1761577136.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:56.468Z,1761577136.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:56.555Z,1761577136.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998103,-0.030734,0.053350],[0.033978,0.997559,-0.061009],[-0.051345,0.062706,0.996710]]
2025-10-27T14:58:56.720Z,1761577136.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:56.957Z,1761577136.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996857,-0.056896,0.055134],[0.060161,0.996413,-0.059505],[-0.051551,0.062635,0.996704]]
2025-10-27T14:58:56.972Z,1761577136.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:57.224Z,1761577137.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:57.361Z,1761577137.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994935,-0.082688,0.057152],[0.086068,0.994514,-0.059444],[-0.051924,0.064062,0.996594]]
2025-10-27T14:58:57.476Z,1761577137.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:57.728Z,1761577137.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:57.769Z,1761577137.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992382,-0.108282,0.058761],[0.111557,0.992198,-0.055662],[-0.052275,0.061793,0.996719]]
2025-10-27T14:58:57.980Z,1761577137.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:58.181Z,1761577138.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989179,-0.133715,0.060369],[0.136802,0.989322,-0.050274],[-0.053002,0.057989,0.996909]]
2025-10-27T14:58:58.204Z,1761577138.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:58:58.232Z,1761577138.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:58.484Z,1761577138.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:58.574Z,1761577138.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985327,-0.158940,0.062203],[0.161862,0.985782,-0.045113],[-0.054148,0.054519,0.997044]]
2025-10-27T14:58:58.736Z,1761577138.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:58.980Z,1761577138.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980868,-0.183806,0.064137],[0.186640,0.981558,-0.041348],[-0.055354,0.052528,0.997084]]
2025-10-27T14:58:58.988Z,1761577138.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:59.240Z,1761577139.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:59.385Z,1761577139.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975797,-0.208147,0.067037],[0.211143,0.976588,-0.041160],[-0.056901,0.054318,0.996901]]
2025-10-27T14:58:59.492Z,1761577139.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:59.744Z,1761577139.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:58:59.789Z,1761577139.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969964,-0.232743,0.070711],[0.236096,0.970761,-0.043375],[-0.058548,0.058766,0.996553]]
2025-10-27T14:58:59.996Z,1761577139.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:00.197Z,1761577140.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963745,-0.256452,0.073676],[0.260001,0.964636,-0.043316],[-0.059962,0.060901,0.996341]]
2025-10-27T14:59:00.219Z,1761577140.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:00.248Z,1761577140.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:00.500Z,1761577140.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:00.594Z,1761577140.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956985,-0.279785,0.076811],[0.283580,0.957949,-0.043776],[-0.061333,0.063675,0.996084]]
2025-10-27T14:59:00.753Z,1761577140.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:00.847Z,1761577140.847 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T14:59:00.997Z,1761577140.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950097,-0.301692,0.079353],[0.305650,0.951156,-0.043354],[-0.062398,0.065445,0.995903]]
2025-10-27T14:59:01.004Z,1761577141.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:01.256Z,1761577141.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:01.404Z,1761577141.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942570,-0.323814,0.081890],[0.327944,0.943718,-0.043003],[-0.063356,0.067389,0.995713]]
2025-10-27T14:59:01.508Z,1761577141.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:01.760Z,1761577141.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:01.806Z,1761577141.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934609,-0.345620,0.083986],[0.349835,0.935884,-0.041663],[-0.064202,0.068320,0.995596]]
2025-10-27T14:59:01.851Z,1761577141.851 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:59:02.012Z,1761577142.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:02.209Z,1761577142.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926499,-0.366483,0.085378],[0.370632,0.927973,-0.038695],[-0.065047,0.067494,0.995597]]
2025-10-27T14:59:02.227Z,1761577142.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:02.264Z,1761577142.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:02.516Z,1761577142.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:02.614Z,1761577142.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918483,-0.385704,0.087304],[0.389927,0.920089,-0.037334],[-0.065927,0.068333,0.995482]]
2025-10-27T14:59:02.772Z,1761577142.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:03.020Z,1761577143.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:03.019Z,1761577143.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909547,-0.406036,0.088647],[0.410180,0.911363,-0.034194],[-0.066906,0.067462,0.995476]]
2025-10-27T14:59:03.272Z,1761577143.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:03.421Z,1761577143.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900368,-0.425936,0.088971],[0.429817,0.902438,-0.029367],[-0.067783,0.064683,0.995601]]
2025-10-27T14:59:03.524Z,1761577143.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:03.776Z,1761577143.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:03.826Z,1761577143.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890615,-0.445817,0.089737],[0.449516,0.892914,-0.025292],[-0.068851,0.062864,0.995644]]
2025-10-27T14:59:04.028Z,1761577144.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:04.229Z,1761577144.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880310,-0.465590,0.090998],[0.469226,0.882792,-0.022478],[-0.069867,0.062486,0.995597]]
2025-10-27T14:59:04.246Z,1761577144.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:04.280Z,1761577144.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:04.532Z,1761577144.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:04.635Z,1761577144.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869792,-0.484807,0.091781],[0.488286,0.872482,-0.018763],[-0.070981,0.061135,0.995602]]
2025-10-27T14:59:04.784Z,1761577144.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:05.036Z,1761577145.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:05.039Z,1761577145.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858536,-0.504330,0.092556],[0.507696,0.861394,-0.015651],[-0.071834,0.060427,0.995584]]
2025-10-27T14:59:05.288Z,1761577145.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:05.442Z,1761577145.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846724,-0.523873,0.092817],[0.527083,0.849724,-0.012350],[-0.072399,0.059379,0.995607]]
2025-10-27T14:59:05.542Z,1761577145.542 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:05.792Z,1761577145.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:05.846Z,1761577145.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834435,-0.543116,0.093510],[0.546233,0.837579,-0.009550],[-0.073135,0.059047,0.995573]]
2025-10-27T14:59:06.044Z,1761577146.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:06.251Z,1761577146.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821823,-0.561712,0.095326],[0.564901,0.825119,-0.008065],[-0.074125,0.060478,0.995413]]
2025-10-27T14:59:06.269Z,1761577146.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:06.308Z,1761577146.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:06.560Z,1761577146.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:06.661Z,1761577146.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808665,-0.580122,0.097567],[0.583481,0.812093,-0.007460],[-0.074906,0.062961,0.995201]]
2025-10-27T14:59:06.812Z,1761577146.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:07.058Z,1761577147.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794821,-0.598665,0.099297],[0.602101,0.798398,-0.005938],[-0.075724,0.064506,0.995040]]
2025-10-27T14:59:07.064Z,1761577147.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:07.316Z,1761577147.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:07.474Z,1761577147.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780509,-0.616943,0.100925],[0.620485,0.784203,-0.004808],[-0.076180,0.066376,0.994882]]
2025-10-27T14:59:07.568Z,1761577147.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:07.820Z,1761577147.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:07.866Z,1761577147.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765477,-0.635237,0.102564],[0.638906,0.769275,-0.003863],[-0.076446,0.068486,0.994719]]
2025-10-27T14:59:08.072Z,1761577148.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:08.270Z,1761577148.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750232,-0.653029,0.103464],[0.656701,0.754148,-0.001908],[-0.076781,0.069376,0.994631]]
2025-10-27T14:59:08.299Z,1761577148.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:08.324Z,1761577148.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:08.576Z,1761577148.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:08.681Z,1761577148.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734312,-0.670837,0.103748],[0.674412,0.738354,0.000838],[-0.077165,0.069354,0.994603]]
2025-10-27T14:59:08.828Z,1761577148.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:09.079Z,1761577149.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717972,-0.688411,0.102989],[0.691749,0.722124,0.004484],[-0.077457,0.068023,0.994672]]
2025-10-27T14:59:09.080Z,1761577149.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:09.332Z,1761577149.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:09.482Z,1761577149.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700962,-0.705645,0.103524],[0.708965,0.705214,0.006498],[-0.077592,0.068840,0.994606]]
2025-10-27T14:59:09.585Z,1761577149.585 [DAT](INFO): DAT read: user:829>Rx Time:14:59:08.0521

2025-10-27T14:59:09.586Z,1761577149.586 [DAT](INFO): Rx dataTimestamp_ set to:1761577149.585546
2025-10-27T14:59:09.586Z,1761577149.586 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:09.836Z,1761577149.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:09.886Z,1761577149.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683686,-0.722456,0.103102],[0.725632,0.688020,0.009311],[-0.077663,0.068448,0.994627]]
2025-10-27T14:59:10.092Z,1761577150.092 [DAT](INFO): DAT read: 14:59:08.0521 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 463,-0.10, 0.734,-1.303,-0.213, 0.116, PHS= 0.720,-1.374,-0.373, RAW= 118.5,  11.3, CAL= 119.5,  12.5, ROT=  30.5, -12.5

2025-10-27T14:59:10.094Z,1761577150.094 [DAT](INFO): got valid direction response:
 14:59:08.0521 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 463,-0.10, 0.734,-1.303,-0.213, 0.116, PHS= 0.720,-1.374,-0.373, RAW= 118.5,  11.3, CAL= 119.5,  12.5, ROT=  30.5, -12.5

2025-10-27T14:59:10.094Z,1761577150.094 [DAT](INFO): DAT read: bearing request

2025-10-27T14:59:10.094Z,1761577150.094 [DAT](INFO): received a bearing request message
2025-10-27T14:59:10.095Z,1761577150.095 [DAT](INFO): DAT read: Tx time:14:59:09.6549

2025-10-27T14:59:10.095Z,1761577150.095 [DAT](INFO): Ping request sent.
2025-10-27T14:59:10.095Z,1761577150.095 [DAT](INFO): transmitted an acoustic signal
2025-10-27T14:59:10.096Z,1761577150.096 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T14:59:10.097Z,1761577150.097 [DAT](INFO): direction in FSK: [0.841205,0.495508,0.216440]
2025-10-27T14:59:10.097Z,1761577150.097 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:10.097Z,1761577150.097 [DAT](INFO): publishing range request flag
2025-10-27T14:59:10.101Z,1761577150.101 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:10.101Z,1761577150.101 [DAT](INFO): publishing range request flag
2025-10-27T14:59:10.289Z,1761577150.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665684,-0.738984,0.103764],[0.742200,0.670092,0.010765],[-0.077486,0.069848,0.994544]]
2025-10-27T14:59:10.314Z,1761577150.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:10.340Z,1761577150.340 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:10.343Z,1761577150.343 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:10.343Z,1761577150.343 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:10.592Z,1761577150.592 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:10.592Z,1761577150.592 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:10.592Z,1761577150.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:10.695Z,1761577150.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646926,-0.755363,0.104466],[0.758655,0.651385,0.011858],[-0.077005,0.071583,0.994458]]
2025-10-27T14:59:10.845Z,1761577150.845 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:10.846Z,1761577150.846 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:10.846Z,1761577150.846 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:11.096Z,1761577151.096 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:11.096Z,1761577151.096 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:11.096Z,1761577151.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:11.349Z,1761577151.349 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:11.349Z,1761577151.349 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:11.349Z,1761577151.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:11.502Z,1761577151.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608034,-0.787081,0.103913],[0.790251,0.612578,0.015875],[-0.076149,0.072465,0.994460]]
2025-10-27T14:59:11.602Z,1761577151.602 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:11.602Z,1761577151.602 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:11.602Z,1761577151.602 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:11.852Z,1761577151.852 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:11.852Z,1761577151.852 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:11.852Z,1761577151.852 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:11.916Z,1761577151.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588016,-0.802136,0.103997],[0.805298,0.592610,0.017558],[-0.075714,0.073424,0.994423]]
2025-10-27T14:59:12.104Z,1761577152.104 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:12.104Z,1761577152.104 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:12.104Z,1761577152.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:12.312Z,1761577152.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568079,-0.816492,0.103088],[0.819512,0.572711,0.020044],[-0.075405,0.073096,0.994470]]
2025-10-27T14:59:12.329Z,1761577152.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:12.356Z,1761577152.356 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:12.356Z,1761577152.356 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:12.356Z,1761577152.356 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:12.608Z,1761577152.608 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:12.608Z,1761577152.608 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:12.608Z,1761577152.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:12.714Z,1761577152.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547779,-0.830306,0.102612],[0.833254,0.552450,0.022061],[-0.075006,0.073418,0.994477]]
2025-10-27T14:59:12.860Z,1761577152.860 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:12.860Z,1761577152.860 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:12.860Z,1761577152.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:13.114Z,1761577153.114 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:13.114Z,1761577153.114 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:13.115Z,1761577153.115 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:13.123Z,1761577153.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527276,-0.843501,0.102398],[0.846418,0.531988,0.023793],[-0.074544,0.074126,0.994459]]
2025-10-27T14:59:13.364Z,1761577153.364 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:13.364Z,1761577153.364 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:13.364Z,1761577153.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:13.526Z,1761577153.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506028,-0.856237,0.103897],[0.859330,0.510833,0.024533],[-0.074080,0.076867,0.994285]]
2025-10-27T14:59:13.616Z,1761577153.616 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:13.616Z,1761577153.616 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:13.616Z,1761577153.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:13.868Z,1761577153.868 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:13.868Z,1761577153.868 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:13.868Z,1761577153.868 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:14.120Z,1761577154.120 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:14.120Z,1761577154.120 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:14.120Z,1761577154.120 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:14.333Z,1761577154.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464152,-0.879448,0.105521],[0.882746,0.469093,0.026675],[-0.072959,0.080767,0.994059]]
2025-10-27T14:59:14.365Z,1761577154.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:14.372Z,1761577154.372 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:14.372Z,1761577154.372 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:14.372Z,1761577154.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:14.624Z,1761577154.624 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:14.624Z,1761577154.624 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:14.624Z,1761577154.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:14.744Z,1761577154.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443590,-0.889763,0.107472],[0.893301,0.448637,0.027180],[-0.072399,0.083948,0.993837]]
2025-10-27T14:59:14.876Z,1761577154.876 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:14.876Z,1761577154.876 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:14.876Z,1761577154.876 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:15.130Z,1761577155.130 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:15.130Z,1761577155.130 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:15.130Z,1761577155.130 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:15.206Z,1761577155.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423501,-0.899517,0.107314],[0.903030,0.428604,0.028907],[-0.071997,0.084666,0.993805]]
2025-10-27T14:59:15.380Z,1761577155.380 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:15.380Z,1761577155.380 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:15.380Z,1761577155.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:15.553Z,1761577155.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402691,-0.909018,0.107360],[0.912531,0.407861,0.030597],[-0.071602,0.085648,0.993749]]
2025-10-27T14:59:15.634Z,1761577155.634 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:15.634Z,1761577155.634 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:15.634Z,1761577155.634 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:15.884Z,1761577155.884 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:15.884Z,1761577155.884 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:15.884Z,1761577155.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:15.959Z,1761577155.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382123,-0.917824,0.107614],[0.921356,0.387378,0.032280],[-0.071315,0.086815,0.993669]]
2025-10-27T14:59:16.137Z,1761577156.137 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:16.137Z,1761577156.137 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:16.137Z,1761577156.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:16.362Z,1761577156.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360793,-0.926533,0.106608],[0.929935,0.366095,0.034562],[-0.071052,0.086669,0.993700]]
2025-10-27T14:59:16.379Z,1761577156.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:16.388Z,1761577156.388 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:16.388Z,1761577156.388 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:16.388Z,1761577156.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:16.640Z,1761577156.640 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:16.640Z,1761577156.640 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:16.640Z,1761577156.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:16.767Z,1761577156.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340150,-0.934541,0.104550],[0.937675,0.345485,0.037494],[-0.071161,0.085281,0.993813]]
2025-10-27T14:59:16.892Z,1761577156.892 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:16.892Z,1761577156.892 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:16.892Z,1761577156.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:17.146Z,1761577157.146 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:17.147Z,1761577157.147 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:17.148Z,1761577157.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:17.208Z,1761577157.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318905,-0.942073,0.103914],[0.945106,0.324327,0.039841],[-0.071236,0.085504,0.993788]]
2025-10-27T14:59:17.396Z,1761577157.396 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:17.396Z,1761577157.396 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:17.396Z,1761577157.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:17.573Z,1761577157.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297087,-0.949342,0.102412],[0.952197,0.302543,0.042299],[-0.071140,0.084950,0.993842]]
2025-10-27T14:59:17.648Z,1761577157.648 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:17.648Z,1761577157.648 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:17.648Z,1761577157.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:17.900Z,1761577157.900 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:17.900Z,1761577157.900 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:17.900Z,1761577157.900 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:17.980Z,1761577157.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275220,-0.956039,0.101212],[0.958743,0.280733,0.044721],[-0.071169,0.084729,0.993859]]
2025-10-27T14:59:18.153Z,1761577158.153 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:18.153Z,1761577158.153 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:18.153Z,1761577158.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:18.381Z,1761577158.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253071,-0.962207,0.100563],[0.964835,0.258655,0.046816],[-0.071057,0.085179,0.993829]]
2025-10-27T14:59:18.404Z,1761577158.404 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:18.404Z,1761577158.404 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:18.404Z,1761577158.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:18.409Z,1761577158.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:18.656Z,1761577158.656 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:18.656Z,1761577158.656 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:18.656Z,1761577158.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:18.908Z,1761577158.908 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:18.908Z,1761577158.908 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:18.909Z,1761577158.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:19.161Z,1761577159.161 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:19.162Z,1761577159.162 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:19.162Z,1761577159.162 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:19.214Z,1761577159.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207532,-0.973182,0.099236],[0.975634,0.213297,0.051408],[-0.071196,0.086149,0.993735]]
2025-10-27T14:59:19.412Z,1761577159.412 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:19.412Z,1761577159.412 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:19.412Z,1761577159.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:19.599Z,1761577159.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184526,-0.978052,0.096772],[0.980246,0.190279,0.053962],[-0.071192,0.084903,0.993843]]
2025-10-27T14:59:19.664Z,1761577159.664 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:19.664Z,1761577159.664 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:19.664Z,1761577159.664 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:19.916Z,1761577159.916 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:19.916Z,1761577159.916 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:19.916Z,1761577159.916 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T14:59:20.001Z,1761577160.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161145,-0.982358,0.094898],[0.984383,0.166888,0.056020],[-0.070869,0.084389,0.993909]]
2025-10-27T14:59:20.168Z,1761577160.168 [DAT](INFO): Reached modem response timeout
2025-10-27T14:59:20.168Z,1761577160.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T14:59:20.168Z,1761577160.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T14:59:20.406Z,1761577160.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138000,-0.986044,0.093130],[0.987904,0.143752,0.058151],[-0.070727,0.083979,0.993954]]
2025-10-27T14:59:20.420Z,1761577160.420 [DAT](INFO): DAT read: 

2025-10-27T14:59:20.421Z,1761577160.421 [DAT](INFO): DAT read: Tx time:14:59:19.4244

2025-10-27T14:59:20.421Z,1761577160.421 [DAT](INFO): Ping request sent.
2025-10-27T14:59:20.421Z,1761577160.421 [DAT](INFO): transmitted an acoustic signal
2025-10-27T14:59:20.421Z,1761577160.421 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:20.422Z,1761577160.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-10-27T14:59:20.429Z,1761577160.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:20.672Z,1761577160.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250894
2025-10-27T14:59:20.925Z,1761577160.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503619
2025-10-27T14:59:21.179Z,1761577161.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757037
2025-10-27T14:59:21.218Z,1761577161.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090599,-0.991900,0.089025],[0.993380,0.096349,0.062557],[-0.070628,0.082768,0.994063]]
2025-10-27T14:59:21.428Z,1761577161.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006985
2025-10-27T14:59:21.619Z,1761577161.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066621,-0.994276,0.083524],[0.995294,0.072126,0.064719],[-0.070373,0.078819,0.994402]]
2025-10-27T14:59:21.688Z,1761577161.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267225
2025-10-27T14:59:21.940Z,1761577161.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518962
2025-10-27T14:59:22.021Z,1761577162.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042443,-0.995841,0.080616],[0.996637,0.047861,0.066518],[-0.070100,0.077521,0.994523]]
2025-10-27T14:59:22.192Z,1761577162.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771430
2025-10-27T14:59:22.425Z,1761577162.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018641,-0.997059,0.074335],[0.997347,0.023776,0.068797],[-0.070362,0.072855,0.994857]]
2025-10-27T14:59:22.442Z,1761577162.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:22.444Z,1761577162.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023029
2025-10-27T14:59:22.700Z,1761577162.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278675
2025-10-27T14:59:22.831Z,1761577162.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004367,-0.997868,0.065111],[0.997461,0.000281,0.071215],[-0.071082,0.065257,0.995334]]
2025-10-27T14:59:22.949Z,1761577162.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528136
2025-10-27T14:59:23.200Z,1761577163.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778922
2025-10-27T14:59:23.234Z,1761577163.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026490,-0.998064,0.056264],[0.997078,-0.022346,0.073046],[-0.071647,0.058035,0.995740]]
2025-10-27T14:59:23.452Z,1761577163.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031052
2025-10-27T14:59:23.648Z,1761577163.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047792,-0.997812,0.045675],[0.996228,-0.044301,0.074616],[-0.072429,0.049069,0.996166]]
2025-10-27T14:59:23.704Z,1761577163.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282860
2025-10-27T14:59:23.956Z,1761577163.956 [DAT](INFO): DAT read: Rx Time:14:59:22.6180

2025-10-27T14:59:23.956Z,1761577163.956 [DAT](INFO): Rx dataTimestamp_ set to:1761577163.956123
2025-10-27T14:59:23.957Z,1761577163.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535998
2025-10-27T14:59:24.042Z,1761577164.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068233,-0.997052,0.035088],[0.994972,-0.065422,0.075834],[-0.073314,0.040086,0.996503]]
2025-10-27T14:59:24.208Z,1761577164.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786963
2025-10-27T14:59:24.448Z,1761577164.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088080,-0.995753,0.026802],[0.993340,-0.085796,0.076909],[-0.074283,0.033398,0.996678]]
2025-10-27T14:59:24.460Z,1761577164.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039005
2025-10-27T14:59:24.466Z,1761577164.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:24.717Z,1761577164.717 [DAT](INFO): DAT read: 14:59:22.6180 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 136, 0.33, 1.552, 0.289, 2.273, 1.668, PHS=-0.014,-1.334, 0.561, RAW= 167.2,   9.4, CAL= 167.1,  10.2, ROT= 342.9, -10.2

2025-10-27T14:59:24.719Z,1761577164.719 [DAT](INFO): got valid direction response:
 14:59:22.6180 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 136, 0.33, 1.552, 0.289, 2.273, 1.668, PHS=-0.014,-1.334, 0.561, RAW= 167.2,   9.4, CAL= 167.1,  10.2, ROT= 342.9, -10.2

2025-10-27T14:59:24.721Z,1761577164.721 [DAT](INFO): DAT read: Bearing 278.8, -20.7 (Local)

2025-10-27T14:59:24.721Z,1761577164.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.8, -20.7 (Local)

2025-10-27T14:59:24.723Z,1761577164.723 [DAT](INFO): DAT read: Range 11 to 50 : 592.1 m  (Round-trip  789.5 ms) speed  0.5 m/s

2025-10-27T14:59:24.724Z,1761577164.724 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T14:59:24.726Z,1761577164.726 [DAT](INFO): direction in FSK: [0.940687,-0.289393,0.177085]
2025-10-27T14:59:24.726Z,1761577164.726 [DAT](INFO): publishing direction and range info
2025-10-27T14:59:24.732Z,1761577164.732 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:24.732Z,1761577164.732 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:24.733Z,1761577164.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T14:59:24.850Z,1761577164.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108016,-0.993936,0.020565],[0.991303,-0.106119,0.077823],[-0.075169,0.028792,0.996755]]
2025-10-27T14:59:24.964Z,1761577164.964 [DAT](INFO): DAT read: user:830>

2025-10-27T14:59:24.966Z,1761577164.966 [DAT](INFO): DAT read: Tx time:14:59:23.9744

2025-10-27T14:59:24.966Z,1761577164.966 [DAT](INFO): Ping request sent.
2025-10-27T14:59:24.966Z,1761577164.966 [DAT](INFO): transmitted an acoustic signal
2025-10-27T14:59:24.967Z,1761577164.967 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:24.968Z,1761577164.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001170
2025-10-27T14:59:25.216Z,1761577165.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249823
2025-10-27T14:59:25.253Z,1761577165.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127432,-0.991700,0.017085],[0.988935,-0.125719,0.078757],[-0.075955,0.026932,0.996747]]
2025-10-27T14:59:25.311Z,1761577165.311 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-10-27T14:59:25.311Z,1761577165.311 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-27T14:59:25.311Z,1761577165.311 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-10-27T14:59:25.312Z,1761577165.312 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 592.099976 m 
2025-10-27T14:59:25.312Z,1761577165.312 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-10-27T14:59:25.312Z,1761577165.312 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-10-27T14:59:25.469Z,1761577165.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502545
2025-10-27T14:59:25.657Z,1761577165.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146713,-0.989045,0.016268],[0.986202,-0.144977,0.079925],[-0.076691,0.027770,0.996668]]
2025-10-27T14:59:25.706Z,1761577165.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-10-27T14:59:25.706Z,1761577165.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-27T14:59:25.706Z,1761577165.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-10-27T14:59:25.706Z,1761577165.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-27T14:59:25.721Z,1761577165.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754743
2025-10-27T14:59:25.972Z,1761577165.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005836
2025-10-27T14:59:26.064Z,1761577166.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165336,-0.986092,0.016914],[0.983194,-0.163456,0.081307],[-0.077412,0.030073,0.996546]]
2025-10-27T14:59:26.088Z,1761577166.088 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-10-27T14:59:26.088Z,1761577166.088 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-10-27T14:59:26.088Z,1761577166.088 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-10-27T14:59:26.090Z,1761577166.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-27T14:59:26.090Z,1761577166.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-27T14:59:26.090Z,1761577166.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-10-27T14:59:26.090Z,1761577166.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-27T14:59:26.090Z,1761577166.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-27T14:59:26.090Z,1761577166.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-27T14:59:26.090Z,1761577166.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-27T14:59:26.090Z,1761577166.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-10-27T14:59:26.091Z,1761577166.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-10-27T14:59:26.091Z,1761577166.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-27T14:59:26.091Z,1761577166.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-10-27T14:59:26.091Z,1761577166.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-10-27T14:59:26.091Z,1761577166.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-27T14:59:26.091Z,1761577166.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-27T14:59:26.091Z,1761577166.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-10-27T14:59:26.091Z,1761577166.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-27T14:59:26.092Z,1761577166.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-27T14:59:26.092Z,1761577166.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-27T14:59:26.093Z,1761577166.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-10-27T14:59:26.093Z,1761577166.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-27T14:59:26.093Z,1761577166.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-10-27T14:59:26.093Z,1761577166.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-27T14:59:26.093Z,1761577166.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-27T14:59:26.094Z,1761577166.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-10-27T14:59:26.094Z,1761577166.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-10-27T14:59:26.094Z,1761577166.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-10-27T14:59:26.094Z,1761577166.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-10-27T14:59:26.094Z,1761577166.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-10-27T14:59:26.094Z,1761577166.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-10-27T14:59:26.095Z,1761577166.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-10-27T14:59:26.096Z,1761577166.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-10-27T14:59:26.096Z,1761577166.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-27T14:59:26.096Z,1761577166.096 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-10-27T14:59:26.096Z,1761577166.096 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-27T14:59:26.096Z,1761577166.096 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-10-27T14:59:26.096Z,1761577166.096 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-27T14:59:26.097Z,1761577166.097 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-10-27T14:59:26.097Z,1761577166.097 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-10-27T14:59:26.097Z,1761577166.097 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-10-27T14:59:26.097Z,1761577166.097 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-10-27T14:59:26.097Z,1761577166.097 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-10-27T14:59:26.225Z,1761577166.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258456
2025-10-27T14:59:26.466Z,1761577166.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183563,-0.982883,0.015645],[0.979904,-0.181697,0.082309],[-0.078057,0.030440,0.996484]]
2025-10-27T14:59:26.479Z,1761577166.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512118
2025-10-27T14:59:26.502Z,1761577166.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:26.505Z,1761577166.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 592.099976 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-27T14:59:26.508Z,1761577166.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 590.379578 m,
      bearing: 79.013443 deg,
      lat: 36.779372 deg,
      lon: -121.859566 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-27T14:59:26.509Z,1761577166.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:26.512Z,1761577166.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 584.518188 m,
      bearing: 72.298826 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 99.545684 deg,
      new cmd heading: 72.298826 deg.

2025-10-27T14:59:26.512Z,1761577166.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261853 target range: 590.379578 and range: 592.10 m.
2025-10-27T14:59:26.569Z,1761577166.569 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-10-27T14:59:26.570Z,1761577166.570 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-10-27T14:59:26.729Z,1761577166.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762433
2025-10-27T14:59:26.923Z,1761577166.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217820,-0.975951,0.008600],[0.972821,-0.216395,0.082421],[-0.078578,0.026319,0.996560]]
2025-10-27T14:59:26.943Z,1761577166.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:26.946Z,1761577166.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 584.228149 m,
      bearing: 72.284854 deg,
      approach rate: -0.662049 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.298830 deg,
      new cmd heading: 72.284854 deg.

2025-10-27T14:59:26.946Z,1761577166.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261609 target range: 590.379578 and range: 592.10 m.
2025-10-27T14:59:26.982Z,1761577166.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015269
2025-10-27T14:59:27.232Z,1761577167.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265878
2025-10-27T14:59:27.321Z,1761577167.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236272,-0.971623,0.011099],[0.968585,-0.234591,0.082525],[-0.077580,0.030249,0.996527]]
2025-10-27T14:59:27.369Z,1761577167.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:27.371Z,1761577167.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 583.949219 m,
      bearing: 72.270946 deg,
      approach rate: -0.655034 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.284855 deg,
      new cmd heading: 72.270946 deg.

2025-10-27T14:59:27.372Z,1761577167.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261366 target range: 590.379578 and range: 592.10 m.
2025-10-27T14:59:27.484Z,1761577167.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517802
2025-10-27T14:59:27.730Z,1761577167.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254707,-0.966926,0.013405],[0.963972,-0.252780,0.082827],[-0.076699,0.034018,0.996474]]
2025-10-27T14:59:27.737Z,1761577167.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770394
2025-10-27T14:59:27.781Z,1761577167.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:27.788Z,1761577167.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 583.695740 m,
      bearing: 72.257681 deg,
      approach rate: -0.614471 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.270949 deg,
      new cmd heading: 72.257681 deg.

2025-10-27T14:59:27.789Z,1761577167.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261135 target range: 590.379578 and range: 592.10 m.
2025-10-27T14:59:27.988Z,1761577167.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022243
2025-10-27T14:59:28.184Z,1761577168.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273403,-0.961785,0.014866],[0.958894,-0.271295,0.083198],[-0.075985,0.037002,0.996422]]
2025-10-27T14:59:28.220Z,1761577168.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:28.222Z,1761577168.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 583.405334 m,
      bearing: 72.241740 deg,
      approach rate: -0.661820 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.257685 deg,
      new cmd heading: 72.241740 deg.

2025-10-27T14:59:28.227Z,1761577168.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260856 target range: 590.379578 and range: 592.10 m.
2025-10-27T14:59:28.240Z,1761577168.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273943
2025-10-27T14:59:28.492Z,1761577168.492 [DAT](INFO): DAT read: Rx Time:14:59:27.1636

2025-10-27T14:59:28.492Z,1761577168.492 [DAT](INFO): Rx dataTimestamp_ set to:1761577168.492061
2025-10-27T14:59:28.493Z,1761577168.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526852
2025-10-27T14:59:28.585Z,1761577168.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292535,-0.956107,0.016797],[0.953299,-0.290206,0.083671],[-0.075124,0.040490,0.996352]]
2025-10-27T14:59:28.651Z,1761577168.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:28.654Z,1761577168.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:28.660Z,1761577168.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 583.130249 m,
      bearing: 72.225896 deg,
      approach rate: -0.634255 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.241743 deg,
      new cmd heading: 72.225896 deg.

2025-10-27T14:59:28.661Z,1761577168.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260580 target range: 590.379578 and range: 592.10 m.
2025-10-27T14:59:28.745Z,1761577168.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778648
2025-10-27T14:59:28.990Z,1761577168.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311266,-0.950130,0.019136],[0.947424,-0.308682,0.084281],[-0.074171,0.044364,0.996258]]
2025-10-27T14:59:28.996Z,1761577168.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029927
2025-10-27T14:59:29.016Z,1761577169.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:29.044Z,1761577169.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 582.901733 m,
      bearing: 72.212110 deg,
      approach rate: -0.634833 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.225897 deg,
      new cmd heading: 72.212110 deg.

2025-10-27T14:59:29.052Z,1761577169.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260339 target range: 590.379578 and range: 592.10 m.
2025-10-27T14:59:29.253Z,1761577169.253 [DAT](INFO): DAT read: 14:59:27.1636 LVL= 32752, 32753, 27762, 32755, AGC= 67, IDX= 404, 0.23,-1.791,-2.793,-0.419,-1.409, PHS=-0.279,-1.338, 0.946, RAW= 182.4,   6.8, CAL= 182.3,   6.4, ROT= 327.7,  -6.4

2025-10-27T14:59:29.254Z,1761577169.254 [DAT](INFO): got valid direction response:
 14:59:27.1636 LVL= 32752, 32753, 27762, 32755, AGC= 67, IDX= 404, 0.23,-1.791,-2.793,-0.419,-1.409, PHS=-0.279,-1.338, 0.946, RAW= 182.4,   6.8, CAL= 182.3,   6.4, ROT= 327.7,  -6.4

2025-10-27T14:59:29.268Z,1761577169.268 [DAT](INFO): DAT read: Bearing 288.0, -36.8 (Local)

2025-10-27T14:59:29.268Z,1761577169.268 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.0, -36.8 (Local)

2025-10-27T14:59:29.270Z,1761577169.270 [DAT](INFO): DAT read: Range 11 to 50 : 588.8 m  (Round-trip  785.1 ms) speed  0.4 m/s

2025-10-27T14:59:29.270Z,1761577169.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T14:59:29.271Z,1761577169.271 [DAT](INFO): direction in FSK: [0.839994,-0.531022,0.111469]
2025-10-27T14:59:29.272Z,1761577169.272 [DAT](INFO): publishing direction and range info
2025-10-27T14:59:29.299Z,1761577169.299 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:29.299Z,1761577169.299 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:29.300Z,1761577169.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T14:59:29.452Z,1761577169.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 588.799988 m,
      deltaT: 4.535996 s,
      deltaX: -3.299988 m,
      approachRate: -0.727511 m/s,
      rangeRepo size: 2

2025-10-27T14:59:29.453Z,1761577169.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:29.455Z,1761577169.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 582.677124 m,
      bearing: 72.197876 deg,
      approach rate: -0.513393 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.212107 deg,
      new cmd heading: 72.197876 deg.

2025-10-27T14:59:29.456Z,1761577169.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260091 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:29.500Z,1761577169.500 [DAT](INFO): DAT read: user:831>

2025-10-27T14:59:29.501Z,1761577169.501 [DAT](INFO): DAT read: Tx time:14:59:28.5744

2025-10-27T14:59:29.501Z,1761577169.501 [DAT](INFO): Ping request sent.
2025-10-27T14:59:29.501Z,1761577169.501 [DAT](INFO): transmitted an acoustic signal
2025-10-27T14:59:29.501Z,1761577169.501 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:29.502Z,1761577169.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-10-27T14:59:29.753Z,1761577169.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251096
2025-10-27T14:59:29.797Z,1761577169.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342843,-0.939327,0.011149],[0.936623,-0.340897,0.080794],[-0.072091,0.038142,0.996669]]
2025-10-27T14:59:29.845Z,1761577169.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:29.848Z,1761577169.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 582.478271 m,
      bearing: 72.184346 deg,
      approach rate: -0.504901 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.197879 deg,
      new cmd heading: 72.184346 deg.

2025-10-27T14:59:29.848Z,1761577169.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259855 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:30.004Z,1761577170.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502972
2025-10-27T14:59:30.240Z,1761577170.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:30.243Z,1761577170.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 582.279358 m,
      bearing: 72.170802 deg,
      approach rate: -0.503182 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.184349 deg,
      new cmd heading: 72.170802 deg.

2025-10-27T14:59:30.244Z,1761577170.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259618 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:30.256Z,1761577170.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755007
2025-10-27T14:59:30.508Z,1761577170.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006695
2025-10-27T14:59:30.618Z,1761577170.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360544,-0.932590,-0.016836],[0.930100,-0.360821,0.068716],[-0.070159,0.009116,0.997494]]
2025-10-27T14:59:30.663Z,1761577170.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:30.666Z,1761577170.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:30.672Z,1761577170.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 582.073792 m,
      bearing: 72.156391 deg,
      approach rate: -0.483216 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.170805 deg,
      new cmd heading: 72.156391 deg.

2025-10-27T14:59:30.673Z,1761577170.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259367 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:30.760Z,1761577170.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258840
2025-10-27T14:59:31.012Z,1761577171.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882
2025-10-27T14:59:31.013Z,1761577171.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363144,-0.931041,-0.035904],[0.929139,-0.364738,0.060557],[-0.069476,-0.011369,0.997519]]
2025-10-27T14:59:31.032Z,1761577171.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:31.034Z,1761577171.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 581.885376 m,
      bearing: 72.143200 deg,
      approach rate: -0.514643 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.156393 deg,
      new cmd heading: 72.143200 deg.

2025-10-27T14:59:31.035Z,1761577171.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259136 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:31.264Z,1761577171.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762645
2025-10-27T14:59:31.416Z,1761577171.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362607,-0.930259,-0.055981],[0.929414,-0.365392,0.051752],[-0.068598,-0.033264,0.997090]]
2025-10-27T14:59:31.453Z,1761577171.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:31.456Z,1761577171.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 581.739319 m,
      bearing: 72.132394 deg,
      approach rate: -0.346698 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.143197 deg,
      new cmd heading: 72.132394 deg.

2025-10-27T14:59:31.457Z,1761577171.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258948 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:31.517Z,1761577171.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015657
2025-10-27T14:59:31.768Z,1761577171.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267169
2025-10-27T14:59:31.822Z,1761577171.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359352,-0.930318,-0.073317],[0.930755,-0.362988,0.043994],[-0.067542,-0.052431,0.996338]]
2025-10-27T14:59:31.842Z,1761577171.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:31.845Z,1761577171.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 581.603882 m,
      bearing: 72.122527 deg,
      approach rate: -0.347950 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.132392 deg,
      new cmd heading: 72.122527 deg.

2025-10-27T14:59:31.846Z,1761577171.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258776 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:31.976Z,1761577171.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T14:59:32.020Z,1761577172.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518742
2025-10-27T14:59:32.223Z,1761577172.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353078,-0.931061,-0.091989],[0.933223,-0.357472,0.036177],[-0.066567,-0.073073,0.995103]]
2025-10-27T14:59:32.242Z,1761577172.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:32.245Z,1761577172.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 581.463501 m,
      bearing: 72.112526 deg,
      approach rate: -0.350750 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.122529 deg,
      new cmd heading: 72.112526 deg.

2025-10-27T14:59:32.246Z,1761577172.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258601 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:32.286Z,1761577172.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784461
2025-10-27T14:59:32.536Z,1761577172.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034729
2025-10-27T14:59:32.640Z,1761577172.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343219,-0.932111,-0.115626],[0.936951,-0.348390,0.027323],[-0.065751,-0.098958,0.992917]]
2025-10-27T14:59:32.679Z,1761577172.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:32.682Z,1761577172.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 581.315002 m,
      bearing: 72.102295 deg,
      approach rate: -0.342481 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.112529 deg,
      new cmd heading: 72.102295 deg.

2025-10-27T14:59:32.683Z,1761577172.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258422 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:32.788Z,1761577172.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287124
2025-10-27T14:59:32.979Z,1761577172.979 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T14:59:33.040Z,1761577173.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538938
2025-10-27T14:59:33.078Z,1761577173.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:33.080Z,1761577173.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:33.083Z,1761577173.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 581.167053 m,
      bearing: 72.092096 deg,
      approach rate: -0.366095 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.102298 deg,
      new cmd heading: 72.092096 deg.

2025-10-27T14:59:33.084Z,1761577173.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258244 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:33.292Z,1761577173.292 [DAT](INFO): DAT read: Rx Time:14:59:31.7609

2025-10-27T14:59:33.292Z,1761577173.292 [DAT](INFO): Rx dataTimestamp_ set to:1761577173.292206
2025-10-27T14:59:33.293Z,1761577173.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791875
2025-10-27T14:59:33.435Z,1761577173.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313916,-0.934886,-0.165667],[0.947323,-0.320082,0.011230],[-0.063526,-0.153414,0.986118]]
2025-10-27T14:59:33.473Z,1761577173.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:33.476Z,1761577173.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 581.040894 m,
      bearing: 72.083265 deg,
      approach rate: -0.321332 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.092093 deg,
      new cmd heading: 72.083265 deg.

2025-10-27T14:59:33.476Z,1761577173.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258090 target range: 590.379578 and range: 588.80 m.
2025-10-27T14:59:33.545Z,1761577173.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043677
2025-10-27T14:59:33.801Z,1761577173.801 [DAT](INFO): DAT read: 14:59:31.7609 LVL= 32752, 32753, 24354, 32755, AGC= 65, IDX= 409,-0.27, 2.359, 1.312,-2.529, 2.658, PHS=-0.197,-1.300, 1.052, RAW= 182.0,   4.4, CAL= 181.8,   2.5, ROT= 328.2,  -2.5

2025-10-27T14:59:33.802Z,1761577173.802 [DAT](INFO): got valid direction response:
 14:59:31.7609 LVL= 32752, 32753, 24354, 32755, AGC= 65, IDX= 409,-0.27, 2.359, 1.312,-2.529, 2.658, PHS=-0.197,-1.300, 1.052, RAW= 182.0,   4.4, CAL= 181.8,   2.5, ROT= 328.2,  -2.5

2025-10-27T14:59:33.803Z,1761577173.803 [DAT](INFO): DAT read: Bearing 280.7, -35.8 (Local)

2025-10-27T14:59:33.804Z,1761577173.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.7, -35.8 (Local)

2025-10-27T14:59:33.805Z,1761577173.805 [DAT](INFO): DAT read: Range 11 to 50 : 586.8 m  (Round-trip  782.4 ms) speed  0.3 m/s

2025-10-27T14:59:33.806Z,1761577173.806 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T14:59:33.807Z,1761577173.807 [DAT](INFO): direction in FSK: [0.849084,-0.526454,0.043619]
2025-10-27T14:59:33.807Z,1761577173.807 [DAT](INFO): publishing direction and range info
2025-10-27T14:59:33.810Z,1761577173.810 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:33.810Z,1761577173.810 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:33.811Z,1761577173.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T14:59:33.875Z,1761577173.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294622,-0.936886,-0.188262],[0.953584,-0.301068,0.005946],[-0.062251,-0.177772,0.982101]]
2025-10-27T14:59:33.930Z,1761577173.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 586.799988 m,
      deltaT: 4.548014 s,
      deltaX: -2.000000 m,
      approachRate: -0.439752 m/s,
      rangeRepo size: 3

2025-10-27T14:59:33.935Z,1761577173.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:33.938Z,1761577173.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 580.901489 m,
      bearing: 72.073876 deg,
      approach rate: -0.305038 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.083262 deg,
      new cmd heading: 72.073876 deg.

2025-10-27T14:59:33.939Z,1761577173.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257926 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:34.048Z,1761577174.048 [DAT](INFO): DAT read: user:832>

2025-10-27T14:59:34.049Z,1761577174.049 [DAT](INFO): DAT read: Tx time:14:59:33.0744

2025-10-27T14:59:34.049Z,1761577174.049 [DAT](INFO): Ping request sent.
2025-10-27T14:59:34.050Z,1761577174.050 [DAT](INFO): transmitted an acoustic signal
2025-10-27T14:59:34.050Z,1761577174.050 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:34.050Z,1761577174.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-27T14:59:34.242Z,1761577174.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273895,-0.938162,-0.211740],[0.959842,-0.280537,0.001386],[-0.060701,-0.202857,0.977325]]
2025-10-27T14:59:34.262Z,1761577174.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:34.264Z,1761577174.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 580.785889 m,
      bearing: 72.066407 deg,
      approach rate: -0.348251 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.073877 deg,
      new cmd heading: 72.066407 deg.

2025-10-27T14:59:34.265Z,1761577174.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257796 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:34.300Z,1761577174.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250388
2025-10-27T14:59:34.552Z,1761577174.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502280
2025-10-27T14:59:34.657Z,1761577174.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252647,-0.939340,-0.231970],[0.965757,-0.259446,-0.001241],[-0.059018,-0.224340,0.972722]]
2025-10-27T14:59:34.680Z,1761577174.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:34.683Z,1761577174.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 580.647705 m,
      bearing: 72.057862 deg,
      approach rate: -0.330250 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.066405 deg,
      new cmd heading: 72.057862 deg.

2025-10-27T14:59:34.684Z,1761577174.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257647 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:34.804Z,1761577174.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754405
2025-10-27T14:59:35.050Z,1761577175.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231159,-0.941328,-0.245902],[0.971226,-0.238155,-0.001325],[-0.057315,-0.239132,0.969294]]
2025-10-27T14:59:35.056Z,1761577175.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006363
2025-10-27T14:59:35.072Z,1761577175.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:35.074Z,1761577175.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 580.517212 m,
      bearing: 72.050159 deg,
      approach rate: -0.333369 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.057861 deg,
      new cmd heading: 72.050159 deg.

2025-10-27T14:59:35.075Z,1761577175.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257512 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:35.308Z,1761577175.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258431
2025-10-27T14:59:35.505Z,1761577175.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:35.523Z,1761577175.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:35.529Z,1761577175.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 580.323669 m,
      bearing: 72.037569 deg,
      approach rate: -0.428308 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.050156 deg,
      new cmd heading: 72.037569 deg.

2025-10-27T14:59:35.530Z,1761577175.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257293 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:35.560Z,1761577175.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510471
2025-10-27T14:59:35.812Z,1761577175.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762262
2025-10-27T14:59:35.863Z,1761577175.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189164,-0.946516,-0.261390],[0.980500,-0.196510,0.002006],[-0.053265,-0.255913,0.965231]]
2025-10-27T14:59:35.882Z,1761577175.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:35.885Z,1761577175.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 580.153564 m,
      bearing: 72.027397 deg,
      approach rate: -0.474578 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.037568 deg,
      new cmd heading: 72.027397 deg.

2025-10-27T14:59:35.885Z,1761577175.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257115 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:36.064Z,1761577176.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014258
2025-10-27T14:59:36.262Z,1761577176.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168847,-0.949020,-0.266180],[0.984325,-0.176312,0.004218],[-0.050933,-0.261295,0.963914]]
2025-10-27T14:59:36.281Z,1761577176.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:36.300Z,1761577176.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 579.970276 m,
      bearing: 72.016905 deg,
      approach rate: -0.459270 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.027398 deg,
      new cmd heading: 72.016905 deg.

2025-10-27T14:59:36.301Z,1761577176.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256932 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:36.316Z,1761577176.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266466
2025-10-27T14:59:36.572Z,1761577176.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522224
2025-10-27T14:59:36.677Z,1761577176.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149359,-0.951546,-0.268797],[0.987615,-0.156773,0.006204],[-0.048044,-0.264541,0.963177]]
2025-10-27T14:59:36.697Z,1761577176.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:36.700Z,1761577176.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 579.777039 m,
      bearing: 72.006309 deg,
      approach rate: -0.464402 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.016907 deg,
      new cmd heading: 72.006309 deg.

2025-10-27T14:59:36.701Z,1761577176.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256747 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:36.820Z,1761577176.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770373
2025-10-27T14:59:37.069Z,1761577177.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130216,-0.953905,-0.270386],[0.990463,-0.137536,0.008216],[-0.045025,-0.266737,0.962717]]
2025-10-27T14:59:37.072Z,1761577177.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022412
2025-10-27T14:59:37.095Z,1761577177.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:37.100Z,1761577177.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 579.593201 m,
      bearing: 71.996661 deg,
      approach rate: -0.463485 m/s,
      LOS rate: nan deg/s,
      cmd heading: 72.006306 deg,
      new cmd heading: 71.996661 deg.

2025-10-27T14:59:37.101Z,1761577177.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256579 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:37.324Z,1761577177.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274197
2025-10-27T14:59:37.479Z,1761577177.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111354,-0.955893,-0.271788],[0.992915,-0.118427,0.009706],[-0.041465,-0.268781,0.962308]]
2025-10-27T14:59:37.528Z,1761577177.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:37.531Z,1761577177.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:37.533Z,1761577177.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 579.310669 m,
      bearing: 71.983504 deg,
      approach rate: -0.646847 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.996662 deg,
      new cmd heading: 71.983504 deg.

2025-10-27T14:59:37.534Z,1761577177.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256349 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:37.578Z,1761577177.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527670
2025-10-27T14:59:37.828Z,1761577177.828 [DAT](INFO): DAT read: Rx Time:14:59:36.2582

2025-10-27T14:59:37.828Z,1761577177.828 [DAT](INFO): Rx dataTimestamp_ set to:1761577177.828184
2025-10-27T14:59:37.829Z,1761577177.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779423
2025-10-27T14:59:37.885Z,1761577177.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092805,-0.957307,-0.273771],[0.994973,-0.099554,0.010830],[-0.037623,-0.271390,0.961734]]
2025-10-27T14:59:37.940Z,1761577177.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:37.942Z,1761577177.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 579.052979 m,
      bearing: 71.972055 deg,
      approach rate: -0.629833 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.983507 deg,
      new cmd heading: 71.972055 deg.

2025-10-27T14:59:37.943Z,1761577177.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256149 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:38.080Z,1761577178.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030209
2025-10-27T14:59:38.285Z,1761577178.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074273,-0.958949,-0.273680],[0.996673,-0.080616,0.011987],[-0.033558,-0.271879,0.961746]]
2025-10-27T14:59:38.311Z,1761577178.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:38.313Z,1761577178.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 578.804138 m,
      bearing: 71.961535 deg,
      approach rate: -0.670982 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.972053 deg,
      new cmd heading: 71.961535 deg.

2025-10-27T14:59:38.314Z,1761577178.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255966 target range: 590.379578 and range: 586.80 m.
2025-10-27T14:59:38.355Z,1761577178.355 [DAT](INFO): DAT read: 14:59:36.2582 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.17,-1.531,-2.694,-0.744,-1.409, PHS=-0.020,-1.240, 0.621, RAW= 169.8,   7.8, CAL= 169.4,   8.0, ROT= 340.6,  -8.0

2025-10-27T14:59:38.357Z,1761577178.357 [DAT](INFO): got valid direction response:
 14:59:36.2582 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.17,-1.531,-2.694,-0.744,-1.409, PHS=-0.020,-1.240, 0.621, RAW= 169.8,   7.8, CAL= 169.4,   8.0, ROT= 340.6,  -8.0

2025-10-27T14:59:38.358Z,1761577178.358 [DAT](INFO): DAT read: Bearing 272.1, -22.7 (Local)

2025-10-27T14:59:38.358Z,1761577178.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.1, -22.7 (Local)

2025-10-27T14:59:38.360Z,1761577178.360 [DAT](INFO): DAT read: Range 11 to 50 : 584.7 m  (Round-trip  779.6 ms) speed  0.7 m/s

2025-10-27T14:59:38.361Z,1761577178.361 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T14:59:38.372Z,1761577178.372 [DAT](INFO): direction in FSK: [0.934043,-0.328928,0.139173]
2025-10-27T14:59:38.372Z,1761577178.372 [DAT](INFO): publishing direction and range info
2025-10-27T14:59:38.381Z,1761577178.381 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:38.382Z,1761577178.382 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:38.382Z,1761577178.382 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T14:59:38.584Z,1761577178.584 [DAT](INFO): DAT read: user:833>

2025-10-27T14:59:38.585Z,1761577178.585 [DAT](INFO): DAT read: Tx time:14:59:37.6744

2025-10-27T14:59:38.586Z,1761577178.586 [DAT](INFO): Ping request sent.
2025-10-27T14:59:38.586Z,1761577178.586 [DAT](INFO): transmitted an acoustic signal
2025-10-27T14:59:38.586Z,1761577178.586 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:38.588Z,1761577178.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001766
2025-10-27T14:59:38.693Z,1761577178.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056959,-0.959971,-0.274245],[0.997945,-0.062819,0.012626],[-0.029348,-0.272962,0.961577]]
2025-10-27T14:59:38.751Z,1761577178.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 584.700012 m,
      deltaT: 4.537553 s,
      deltaX: -2.099976 m,
      approachRate: -0.462799 m/s,
      rangeRepo size: 4

2025-10-27T14:59:38.752Z,1761577178.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:38.760Z,1761577178.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 578.532349 m,
      bearing: 71.950575 deg,
      approach rate: -0.624306 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.961534 deg,
      new cmd heading: 71.950575 deg.

2025-10-27T14:59:38.761Z,1761577178.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255774 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:38.837Z,1761577178.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250606
2025-10-27T14:59:39.090Z,1761577179.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503501
2025-10-27T14:59:39.125Z,1761577179.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038993,-0.960498,-0.275541],[0.998926,-0.044378,0.013333],[-0.025035,-0.274725,0.961197]]
2025-10-27T14:59:39.206Z,1761577179.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:39.213Z,1761577179.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 578.237976 m,
      bearing: 71.939290 deg,
      approach rate: -0.639439 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.950572 deg,
      new cmd heading: 71.939290 deg.

2025-10-27T14:59:39.214Z,1761577179.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255577 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:39.341Z,1761577179.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754497
2025-10-27T14:59:39.552Z,1761577179.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020600,-0.961007,-0.275755],[0.999577,-0.025463,0.014065],[-0.020538,-0.275349,0.961125]]
2025-10-27T14:59:39.599Z,1761577179.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013611
2025-10-27T14:59:39.618Z,1761577179.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:39.621Z,1761577179.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:39.624Z,1761577179.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 577.931641 m,
      bearing: 71.930732 deg,
      approach rate: -0.738683 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.939288 deg,
      new cmd heading: 71.930732 deg.

2025-10-27T14:59:39.624Z,1761577179.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255428 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:39.853Z,1761577179.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266659
2025-10-27T14:59:39.956Z,1761577179.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001363,-0.961097,-0.276208],[0.999866,-0.005808,0.015275],[-0.016285,-0.276150,0.960977]]
2025-10-27T14:59:39.976Z,1761577179.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:39.978Z,1761577179.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 577.645691 m,
      bearing: 71.923320 deg,
      approach rate: -0.806255 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.930730 deg,
      new cmd heading: 71.923320 deg.

2025-10-27T14:59:39.979Z,1761577179.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255299 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:40.105Z,1761577180.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519398
2025-10-27T14:59:40.356Z,1761577180.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770056
2025-10-27T14:59:40.410Z,1761577180.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:40.413Z,1761577180.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 577.324768 m,
      bearing: 71.914995 deg,
      approach rate: -0.738360 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.923319 deg,
      new cmd heading: 71.914995 deg.

2025-10-27T14:59:40.414Z,1761577180.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255153 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:40.609Z,1761577180.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022452
2025-10-27T14:59:40.765Z,1761577180.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039557,-0.961129,-0.273253],[0.999184,0.035799,0.018726],[-0.008216,-0.273770,0.961760]]
2025-10-27T14:59:40.792Z,1761577180.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:40.794Z,1761577180.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 577.040955 m,
      bearing: 71.908840 deg,
      approach rate: -0.745563 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.914993 deg,
      new cmd heading: 71.908840 deg.

2025-10-27T14:59:40.795Z,1761577180.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255046 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:40.860Z,1761577180.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274306
2025-10-27T14:59:41.115Z,1761577181.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529116
2025-10-27T14:59:41.201Z,1761577181.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061483,-0.960832,-0.270225],[0.998098,0.057996,0.020878],[-0.004389,-0.270994,0.962571]]
2025-10-27T14:59:41.258Z,1761577181.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:41.265Z,1761577181.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 576.751770 m,
      bearing: 71.906121 deg,
      approach rate: -0.619169 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.908839 deg,
      new cmd heading: 71.906121 deg.

2025-10-27T14:59:41.265Z,1761577181.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254999 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:41.364Z,1761577181.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778188
2025-10-27T14:59:41.569Z,1761577181.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084027,-0.959666,-0.268291],[0.996463,0.080714,0.023377],[-0.000779,-0.269306,0.963054]]
2025-10-27T14:59:41.616Z,1761577181.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030186
2025-10-27T14:59:41.625Z,1761577181.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:41.631Z,1761577181.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:41.634Z,1761577181.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 576.513428 m,
      bearing: 71.904411 deg,
      approach rate: -0.645526 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.906121 deg,
      new cmd heading: 71.904411 deg.

2025-10-27T14:59:41.635Z,1761577181.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254969 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:41.868Z,1761577181.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282002
2025-10-27T14:59:41.974Z,1761577181.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107295,-0.958536,-0.264001],[0.994224,0.104149,0.025929],[0.002642,-0.265258,0.964174]]
2025-10-27T14:59:42.001Z,1761577182.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:42.004Z,1761577182.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 576.256287 m,
      bearing: 71.903150 deg,
      approach rate: -0.687427 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.904414 deg,
      new cmd heading: 71.903150 deg.

2025-10-27T14:59:42.005Z,1761577182.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254947 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:42.120Z,1761577182.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533994
2025-10-27T14:59:42.372Z,1761577182.372 [DAT](INFO): DAT read: Rx Time:14:59:40.8542

2025-10-27T14:59:42.373Z,1761577182.373 [DAT](INFO): Rx dataTimestamp_ set to:1761577182.372273
2025-10-27T14:59:42.373Z,1761577182.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787229
2025-10-27T14:59:42.380Z,1761577182.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131575,-0.957187,-0.257838],[0.991291,0.128487,0.028867],[0.005498,-0.259391,0.965757]]
2025-10-27T14:59:42.428Z,1761577182.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:42.430Z,1761577182.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 575.997620 m,
      bearing: 71.902491 deg,
      approach rate: -0.606513 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.903150 deg,
      new cmd heading: 71.902491 deg.

2025-10-27T14:59:42.435Z,1761577182.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254935 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:42.624Z,1761577182.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037975
2025-10-27T14:59:42.782Z,1761577182.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156125,-0.955489,-0.250331],[0.987705,0.153084,0.031698],[0.008034,-0.252202,0.967641]]
2025-10-27T14:59:42.814Z,1761577182.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:42.821Z,1761577182.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 575.735535 m,
      bearing: 71.902445 deg,
      approach rate: -0.678648 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.902487 deg,
      new cmd heading: 71.902445 deg.

2025-10-27T14:59:42.821Z,1761577182.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254934 target range: 590.379578 and range: 584.70 m.
2025-10-27T14:59:42.882Z,1761577182.882 [DAT](INFO): DAT read: 14:59:40.8542 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 404, 0.23,-1.784, 3.079,-1.349,-1.840, PHS= 0.159,-1.319, 0.447, RAW= 158.8,   8.7, CAL= 158.5,   9.2, ROT= 351.5,  -9.2

2025-10-27T14:59:42.884Z,1761577182.884 [DAT](INFO): got valid direction response:
 14:59:40.8542 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 404, 0.23,-1.784, 3.079,-1.349,-1.840, PHS= 0.159,-1.319, 0.447, RAW= 158.8,   8.7, CAL= 158.5,   9.2, ROT= 351.5,  -9.2

2025-10-27T14:59:42.886Z,1761577182.886 [DAT](INFO): DAT read: Bearing 259.2, -10.4 (Local)

2025-10-27T14:59:42.886Z,1761577182.886 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.2, -10.4 (Local)

2025-10-27T14:59:42.889Z,1761577182.889 [DAT](INFO): DAT read: Range 11 to 50 : 581.7 m  (Round-trip  775.7 ms) speed  0.2 m/s

2025-10-27T14:59:42.890Z,1761577182.890 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T14:59:42.898Z,1761577182.898 [DAT](INFO): direction in FSK: [0.976293,-0.145908,0.159881]
2025-10-27T14:59:42.903Z,1761577182.903 [DAT](INFO): publishing direction and range info
2025-10-27T14:59:42.911Z,1761577182.911 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:42.911Z,1761577182.911 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:42.911Z,1761577182.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T14:59:43.131Z,1761577183.131 [DAT](INFO): DAT read: user:834>

2025-10-27T14:59:43.134Z,1761577183.134 [DAT](INFO): DAT read: Tx time:14:59:42.1744

2025-10-27T14:59:43.135Z,1761577183.135 [DAT](INFO): Ping request sent.
2025-10-27T14:59:43.136Z,1761577183.136 [DAT](INFO): transmitted an acoustic signal
2025-10-27T14:59:43.136Z,1761577183.136 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:43.138Z,1761577183.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002620
2025-10-27T14:59:43.290Z,1761577183.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 581.700012 m,
      deltaT: 4.542576 s,
      deltaX: -3.000000 m,
      approachRate: -0.660418 m/s,
      rangeRepo size: 4

2025-10-27T14:59:43.291Z,1761577183.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:43.294Z,1761577183.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 575.479248 m,
      bearing: 71.904700 deg,
      approach rate: -0.539357 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.902446 deg,
      new cmd heading: 71.904700 deg.

2025-10-27T14:59:43.299Z,1761577183.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254974 target range: 590.379578 and range: 581.70 m.
2025-10-27T14:59:43.380Z,1761577183.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244771
2025-10-27T14:59:43.632Z,1761577183.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496695
2025-10-27T14:59:43.772Z,1761577183.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230749,-0.943480,-0.237907],[0.972950,0.226531,0.045310],[0.011145,-0.241927,0.970231]]
2025-10-27T14:59:43.799Z,1761577183.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:43.801Z,1761577183.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:43.804Z,1761577183.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 575.209534 m,
      bearing: 71.909140 deg,
      approach rate: -0.526758 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.904700 deg,
      new cmd heading: 71.909140 deg.

2025-10-27T14:59:43.805Z,1761577183.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255051 target range: 590.379578 and range: 581.70 m.
2025-10-27T14:59:43.884Z,1761577183.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748927
2025-10-27T14:59:44.136Z,1761577184.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000629
2025-10-27T14:59:44.177Z,1761577184.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254778,-0.937434,-0.237290],[0.966937,0.249756,0.051517],[0.010971,-0.242570,0.970072]]
2025-10-27T14:59:44.197Z,1761577184.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:44.199Z,1761577184.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 575.002808 m,
      bearing: 71.913073 deg,
      approach rate: -0.522715 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.909140 deg,
      new cmd heading: 71.913073 deg.

2025-10-27T14:59:44.200Z,1761577184.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255120 target range: 590.379578 and range: 581.70 m.
2025-10-27T14:59:44.388Z,1761577184.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252684
2025-10-27T14:59:44.583Z,1761577184.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278335,-0.930993,-0.236181],[0.960430,0.272380,0.058164],[0.010181,-0.243025,0.969967]]
2025-10-27T14:59:44.622Z,1761577184.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:44.625Z,1761577184.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 574.783875 m,
      bearing: 71.917797 deg,
      approach rate: -0.514426 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.913074 deg,
      new cmd heading: 71.917797 deg.

2025-10-27T14:59:44.626Z,1761577184.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255202 target range: 590.379578 and range: 581.70 m.
2025-10-27T14:59:44.648Z,1761577184.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512746
2025-10-27T14:59:44.902Z,1761577184.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766418
2025-10-27T14:59:44.981Z,1761577184.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300256,-0.924666,-0.234177],[0.953818,0.293315,0.064785],[0.008783,-0.242814,0.970033]]
2025-10-27T14:59:45.001Z,1761577185.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:45.003Z,1761577185.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 574.586365 m,
      bearing: 71.922538 deg,
      approach rate: -0.521934 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.917801 deg,
      new cmd heading: 71.922538 deg.

2025-10-27T14:59:45.004Z,1761577185.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255285 target range: 590.379578 and range: 581.70 m.
2025-10-27T14:59:45.155Z,1761577185.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019224
2025-10-27T14:59:45.395Z,1761577185.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321323,-0.917924,-0.232739],[0.946942,0.313341,0.071546],[0.007253,-0.243380,0.969904]]
2025-10-27T14:59:45.404Z,1761577185.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268750
2025-10-27T14:59:45.453Z,1761577185.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:45.460Z,1761577185.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 574.376526 m,
      bearing: 71.927289 deg,
      approach rate: -0.463631 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.922541 deg,
      new cmd heading: 71.927289 deg.

2025-10-27T14:59:45.461Z,1761577185.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255368 target range: 590.379578 and range: 581.70 m.
2025-10-27T14:59:45.656Z,1761577185.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520629
2025-10-27T14:59:45.788Z,1761577185.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340532,-0.910855,-0.233197],[0.940218,0.331299,0.078940],[0.005355,-0.246138,0.969220]]
2025-10-27T14:59:45.813Z,1761577185.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:45.816Z,1761577185.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:45.818Z,1761577185.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 574.191956 m,
      bearing: 71.931860 deg,
      approach rate: -0.509113 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.927288 deg,
      new cmd heading: 71.931860 deg.

2025-10-27T14:59:45.819Z,1761577185.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255448 target range: 590.379578 and range: 581.70 m.
2025-10-27T14:59:45.908Z,1761577185.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773281
2025-10-27T14:59:46.160Z,1761577186.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024696
2025-10-27T14:59:46.192Z,1761577186.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356832,-0.905324,-0.230344],[0.934162,0.346686,0.084552],[0.003310,-0.245349,0.969429]]
2025-10-27T14:59:46.210Z,1761577186.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:46.213Z,1761577186.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 574.001770 m,
      bearing: 71.936925 deg,
      approach rate: -0.481867 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.931857 deg,
      new cmd heading: 71.936925 deg.

2025-10-27T14:59:46.214Z,1761577186.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255536 target range: 590.379578 and range: 581.70 m.
2025-10-27T14:59:46.412Z,1761577186.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276668
2025-10-27T14:59:46.607Z,1761577186.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369253,-0.902230,-0.222783],[0.929329,0.358636,0.087911],[0.000582,-0.239500,0.970896]]
2025-10-27T14:59:46.630Z,1761577186.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:46.633Z,1761577186.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 573.802551 m,
      bearing: 71.942534 deg,
      approach rate: -0.474970 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.936925 deg,
      new cmd heading: 71.942534 deg.

2025-10-27T14:59:46.633Z,1761577186.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255634 target range: 590.379578 and range: 581.70 m.
2025-10-27T14:59:46.664Z,1761577186.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528797
2025-10-27T14:59:46.916Z,1761577186.916 [DAT](INFO): DAT read: Rx Time:14:59:45.3509

2025-10-27T14:59:46.916Z,1761577186.916 [DAT](INFO): Rx dataTimestamp_ set to:1761577186.916161
2025-10-27T14:59:46.917Z,1761577186.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781776
2025-10-27T14:59:47.003Z,1761577187.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378293,-0.901025,-0.212248],[0.925683,0.367658,0.089098],[-0.002245,-0.230180,0.973146]]
2025-10-27T14:59:47.021Z,1761577187.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.38 m.
2025-10-27T14:59:47.024Z,1761577187.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 590.379578 m,
      nav range: 573.613464 m,
      bearing: 71.948083 deg,
      approach rate: -0.482907 m/s,
      LOS rate: nan deg/s,
      cmd heading: 71.942533 deg,
      new cmd heading: 71.948083 deg.

2025-10-27T14:59:47.025Z,1761577187.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255731 target range: 590.379578 and range: 581.70 m.
2025-10-27T14:59:47.171Z,1761577187.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035191
2025-10-27T14:59:47.404Z,1761577187.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384727,-0.901376,-0.198760],[0.923018,0.374566,0.087973],[-0.004848,-0.217304,0.976092]]
2025-10-27T14:59:47.425Z,1761577187.425 [DAT](INFO): DAT read: 14:59:45.3509 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 402,-0.30, 0.626,-1.026, 0.596, 0.546, PHS= 0.182,-1.527, 0.006, RAW= 144.6,  16.2, CAL= 144.3,  17.7, ROT=   5.7, -17.7

2025-10-27T14:59:47.426Z,1761577187.426 [DAT](INFO): got valid direction response:
 14:59:45.3509 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 402,-0.30, 0.626,-1.026, 0.596, 0.546, PHS= 0.182,-1.527, 0.006, RAW= 144.6,  16.2, CAL= 144.3,  17.7, ROT=   5.7, -17.7

2025-10-27T14:59:47.428Z,1761577187.428 [DAT](INFO): DAT read: Bearing 257.0,   1.8 (Local)

2025-10-27T14:59:47.428Z,1761577187.428 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.0,   1.8 (Local)

2025-10-27T14:59:47.429Z,1761577187.429 [DAT](INFO): DAT read: Range 11 to 50 : 579.3 m  (Round-trip  772.4 ms) speed  0.4 m/s

2025-10-27T14:59:47.430Z,1761577187.430 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T14:59:47.431Z,1761577187.431 [DAT](INFO): direction in FSK: [0.947951,0.094618,0.304033]
2025-10-27T14:59:47.431Z,1761577187.431 [DAT](INFO): publishing direction and range info
2025-10-27T14:59:47.434Z,1761577187.434 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:47.434Z,1761577187.434 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:47.439Z,1761577187.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T14:59:47.519Z,1761577187.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 579.299988 m,
      deltaT: 4.543959 s,
      deltaX: -2.400024 m,
      approachRate: -0.528179 m/s,
      rangeRepo size: 4

2025-10-27T14:59:47.521Z,1761577187.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 577.517151 m,
      bearing: 76.847687 deg,
      lat: 36.779001 deg,
      lon: -121.859493 deg,
      deltaT: 22.708098 s,
      deltaX: -12.862427 m,
      approachRate: -0.566425 m/s,
      posRepo size: 2

2025-10-27T14:59:47.522Z,1761577187.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:47.528Z,1761577187.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 76.847687 deg.
2025-10-27T14:59:47.529Z,1761577187.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341245 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:47.672Z,1761577187.672 [DAT](INFO): DAT read: user:835>

2025-10-27T14:59:47.673Z,1761577187.673 [DAT](INFO): DAT read: Tx time:14:59:46.7244

2025-10-27T14:59:47.673Z,1761577187.673 [DAT](INFO): Ping request sent.
2025-10-27T14:59:47.673Z,1761577187.673 [DAT](INFO): transmitted an acoustic signal
2025-10-27T14:59:47.673Z,1761577187.673 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:47.674Z,1761577187.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-10-27T14:59:47.823Z,1761577187.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388164,-0.903043,-0.183961],[0.921558,0.378659,0.085728],[-0.007758,-0.202808,0.979188]]
2025-10-27T14:59:47.849Z,1761577187.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:47.851Z,1761577187.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:47.857Z,1761577187.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.517151 m,
      nav range: 568.060791 m,
      bearing: 76.129086 deg,
      approach rate: -0.597078 m/s,
      LOS rate: 0.015956 deg/s,
      cmd heading: 76.847688 deg,
      new cmd heading: 76.863792 deg.

2025-10-27T14:59:47.858Z,1761577187.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341526 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:47.924Z,1761577187.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250799
2025-10-27T14:59:48.176Z,1761577188.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502686
2025-10-27T14:59:48.223Z,1761577188.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388886,-0.905551,-0.169541],[0.921223,0.380068,0.083046],[-0.010765,-0.188481,0.982018]]
2025-10-27T14:59:48.253Z,1761577188.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:48.256Z,1761577188.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.517151 m,
      nav range: 567.840942 m,
      bearing: 76.135042 deg,
      approach rate: -0.546235 m/s,
      LOS rate: 0.014803 deg/s,
      cmd heading: 76.863793 deg,
      new cmd heading: 76.881667 deg.

2025-10-27T14:59:48.257Z,1761577188.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341838 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:48.428Z,1761577188.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754738
2025-10-27T14:59:48.625Z,1761577188.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387842,-0.908488,-0.155653],[0.921620,0.379665,0.080442],[-0.013985,-0.174652,0.984531]]
2025-10-27T14:59:48.650Z,1761577188.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:48.653Z,1761577188.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.517151 m,
      nav range: 567.625183 m,
      bearing: 76.140916 deg,
      approach rate: -0.543348 m/s,
      LOS rate: 0.014799 deg/s,
      cmd heading: 76.881668 deg,
      new cmd heading: 76.899298 deg.

2025-10-27T14:59:48.654Z,1761577188.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342146 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:48.680Z,1761577188.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006787
2025-10-27T14:59:48.932Z,1761577188.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258700
2025-10-27T14:59:49.029Z,1761577189.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383911,-0.912734,-0.139745],[0.923213,0.376628,0.076355],[-0.017059,-0.158328,0.987239]]
2025-10-27T14:59:49.057Z,1761577189.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:49.076Z,1761577189.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.517151 m,
      nav range: 567.405762 m,
      bearing: 76.146859 deg,
      approach rate: -0.539896 m/s,
      LOS rate: 0.014628 deg/s,
      cmd heading: 76.899297 deg,
      new cmd heading: 76.917132 deg.

2025-10-27T14:59:49.078Z,1761577189.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342457 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:49.187Z,1761577189.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513039
2025-10-27T14:59:49.433Z,1761577189.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377845,-0.917831,-0.121736],[0.925645,0.371581,0.071479],[-0.020371,-0.139693,0.989985]]
2025-10-27T14:59:49.436Z,1761577189.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762756
2025-10-27T14:59:49.490Z,1761577189.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:49.492Z,1761577189.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.517151 m,
      nav range: 567.131592 m,
      bearing: 76.152057 deg,
      approach rate: -0.633333 m/s,
      LOS rate: 0.012014 deg/s,
      cmd heading: 76.917130 deg,
      new cmd heading: 76.932732 deg.

2025-10-27T14:59:49.493Z,1761577189.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342729 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:49.688Z,1761577189.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014696
2025-10-27T14:59:49.839Z,1761577189.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370594,-0.922917,-0.104329],[0.928496,0.365281,0.066821],[-0.023561,-0.121633,0.992296]]
2025-10-27T14:59:49.857Z,1761577189.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:49.859Z,1761577189.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:49.861Z,1761577189.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.517151 m,
      nav range: 566.897888 m,
      bearing: 76.156344 deg,
      approach rate: -0.633151 m/s,
      LOS rate: 0.011618 deg/s,
      cmd heading: 76.932730 deg,
      new cmd heading: 76.945595 deg.

2025-10-27T14:59:49.862Z,1761577189.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342954 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:49.940Z,1761577189.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266884
2025-10-27T14:59:50.192Z,1761577190.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518587
2025-10-27T14:59:50.245Z,1761577190.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361509,-0.928182,-0.088254],[0.931988,0.357035,0.062643],[-0.026634,-0.104898,0.994126]]
2025-10-27T14:59:50.267Z,1761577190.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:50.269Z,1761577190.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.517151 m,
      nav range: 566.640198 m,
      bearing: 76.160856 deg,
      approach rate: -0.637059 m/s,
      LOS rate: 0.011159 deg/s,
      cmd heading: 76.945599 deg,
      new cmd heading: 76.959140 deg.

2025-10-27T14:59:50.270Z,1761577190.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343190 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:50.444Z,1761577190.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770685
2025-10-27T14:59:50.669Z,1761577190.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350898,-0.933638,-0.072045],[0.935946,0.347252,0.058489],[-0.029590,-0.087954,0.995685]]
2025-10-27T14:59:50.696Z,1761577190.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022850
2025-10-27T14:59:50.703Z,1761577190.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:50.706Z,1761577190.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.517151 m,
      nav range: 566.362122 m,
      bearing: 76.165448 deg,
      approach rate: -0.632399 m/s,
      LOS rate: 0.010449 deg/s,
      cmd heading: 76.959143 deg,
      new cmd heading: 76.972926 deg.

2025-10-27T14:59:50.707Z,1761577190.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343431 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:50.948Z,1761577190.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274617
2025-10-27T14:59:51.069Z,1761577191.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339277,-0.938782,-0.059825],[0.940128,0.336200,0.055934],[-0.032396,-0.075221,0.996641]]
2025-10-27T14:59:51.100Z,1761577191.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:51.103Z,1761577191.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.517151 m,
      nav range: 566.108826 m,
      bearing: 76.169342 deg,
      approach rate: -0.637227 m/s,
      LOS rate: 0.009801 deg/s,
      cmd heading: 76.972926 deg,
      new cmd heading: 76.984613 deg.

2025-10-27T14:59:51.104Z,1761577191.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343635 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:51.200Z,1761577191.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526847
2025-10-27T14:59:51.452Z,1761577191.452 [DAT](INFO): DAT read: Rx Time:14:59:49.9041

2025-10-27T14:59:51.452Z,1761577191.452 [DAT](INFO): Rx dataTimestamp_ set to:1761577191.452188
2025-10-27T14:59:51.453Z,1761577191.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779846
2025-10-27T14:59:51.598Z,1761577191.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327105,-0.943839,-0.046585],[0.944333,0.324645,0.053304],[-0.035187,-0.061428,0.997491]]
2025-10-27T14:59:51.646Z,1761577191.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.52 m.
2025-10-27T14:59:51.649Z,1761577191.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.517151 m,
      nav range: 565.725952 m,
      bearing: 76.174288 deg,
      approach rate: -0.701883 m/s,
      LOS rate: 0.009074 deg/s,
      cmd heading: 76.984613 deg,
      new cmd heading: 76.999462 deg.

2025-10-27T14:59:51.650Z,1761577191.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343894 target range: 577.517151 and range: 579.30 m.
2025-10-27T14:59:51.710Z,1761577191.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036370
2025-10-27T14:59:51.965Z,1761577191.965 [DAT](INFO): DAT read: 14:59:49.9041 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 467,-0.24, 3.011, 1.438, 3.033, 2.776, PHS= 0.336,-1.293, 0.213, RAW= 146.1,   9.5, CAL= 145.7,  10.3, ROT=   4.3, -10.3

2025-10-27T14:59:51.966Z,1761577191.966 [DAT](INFO): got valid direction response:
 14:59:49.9041 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 467,-0.24, 3.011, 1.438, 3.033, 2.776, PHS= 0.336,-1.293, 0.213, RAW= 146.1,   9.5, CAL= 145.7,  10.3, ROT=   4.3, -10.3

2025-10-27T14:59:51.967Z,1761577191.967 [DAT](INFO): DAT read: Bearing 251.1,   1.7 (Local)

2025-10-27T14:59:51.968Z,1761577191.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.1,   1.7 (Local)

2025-10-27T14:59:51.969Z,1761577191.969 [DAT](INFO): DAT read: Range 11 to 50 : 581.7 m  (Round-trip  775.6 ms) speed  0.4 m/s

2025-10-27T14:59:51.970Z,1761577191.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T14:59:51.971Z,1761577191.971 [DAT](INFO): direction in FSK: [0.981116,0.073770,0.178802]
2025-10-27T14:59:51.971Z,1761577191.971 [DAT](INFO): publishing direction and range info
2025-10-27T14:59:51.974Z,1761577191.974 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:51.974Z,1761577191.974 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:51.974Z,1761577191.974 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T14:59:51.000Z,1761577192.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314468,-0.948688,-0.033186],[0.948519,0.312640,0.050673],[-0.037698,-0.047413,0.998164]]
2025-10-27T14:59:52.106Z,1761577192.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 581.700012 m,
      deltaT: 4.539898 s,
      deltaX: 2.400024 m,
      approachRate: 0.528652 m/s,
      rangeRepo size: 4

2025-10-27T14:59:52.123Z,1761577192.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 579.883972 m,
      bearing: 76.416773 deg,
      lat: 36.778999 deg,
      lon: -121.859493 deg,
      deltaT: 4.539898 s,
      deltaX: 2.366821 m,
      approachRate: 0.521338 m/s,
      posRepo size: 3

2025-10-27T14:59:52.124Z,1761577192.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:52.126Z,1761577192.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 565.398499 m,
      bearing: 76.195980 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009074 deg/s,
      cmd heading: 76.999461 deg,
      new cmd heading: 77.011788 deg.

2025-10-27T14:59:52.132Z,1761577192.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344109 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:52.212Z,1761577192.212 [DAT](INFO): DAT read: user:836>

2025-10-27T14:59:52.213Z,1761577192.213 [DAT](INFO): DAT read: Tx time:14:59:51.2244

2025-10-27T14:59:52.213Z,1761577192.213 [DAT](INFO): Ping request sent.
2025-10-27T14:59:52.213Z,1761577192.213 [DAT](INFO): transmitted an acoustic signal
2025-10-27T14:59:52.213Z,1761577192.213 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:52.214Z,1761577192.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-27T14:59:52.464Z,1761577192.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250474
2025-10-27T14:59:52.510Z,1761577192.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301456,-0.953230,-0.021844],[0.952648,0.300157,0.048660],[-0.039828,-0.035479,0.998576]]
2025-10-27T14:59:52.528Z,1761577192.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:52.530Z,1761577192.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:52.533Z,1761577192.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 565.054810 m,
      bearing: 76.199497 deg,
      approach rate: -0.796701 m/s,
      LOS rate: 0.008158 deg/s,
      cmd heading: 77.011790 deg,
      new cmd heading: 77.022348 deg.

2025-10-27T14:59:52.534Z,1761577192.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344294 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:52.716Z,1761577192.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503086
2025-10-27T14:59:52.901Z,1761577192.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288651,-0.957339,-0.013521],[0.956530,0.287737,0.047510],[-0.041592,-0.026647,0.998779]]
2025-10-27T14:59:52.934Z,1761577192.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:52.937Z,1761577192.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 564.769226 m,
      bearing: 76.202034 deg,
      approach rate: -0.706760 m/s,
      LOS rate: 0.006282 deg/s,
      cmd heading: 77.022349 deg,
      new cmd heading: 77.029965 deg.

2025-10-27T14:59:52.938Z,1761577192.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344427 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:52.969Z,1761577192.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755398
2025-10-27T14:59:53.220Z,1761577193.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006524
2025-10-27T14:59:53.310Z,1761577193.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276496,-0.960969,-0.009420],[0.960036,0.275759,0.047825],[-0.043361,-0.022267,0.998811]]
2025-10-27T14:59:53.372Z,1761577193.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:53.379Z,1761577193.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 564.473511 m,
      bearing: 76.204603 deg,
      approach rate: -0.674903 m/s,
      LOS rate: 0.005865 deg/s,
      cmd heading: 77.029965 deg,
      new cmd heading: 77.037675 deg.

2025-10-27T14:59:53.380Z,1761577193.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344561 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:53.472Z,1761577193.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259120
2025-10-27T14:59:53.717Z,1761577193.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255381,-0.966781,-0.010750],[0.965722,0.254535,0.050921],[-0.046493,-0.023386,0.998645]]
2025-10-27T14:59:53.725Z,1761577193.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511475
2025-10-27T14:59:53.765Z,1761577193.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:53.768Z,1761577193.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 564.197693 m,
      bearing: 76.206386 deg,
      approach rate: -0.702991 m/s,
      LOS rate: 0.004546 deg/s,
      cmd heading: 77.037676 deg,
      new cmd heading: 77.043028 deg.

2025-10-27T14:59:53.769Z,1761577193.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344654 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:53.976Z,1761577193.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762566
2025-10-27T14:59:54.118Z,1761577194.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246760,-0.968980,-0.013716],[0.967881,0.245728,0.053143],[-0.048124,-0.026389,0.998493]]
2025-10-27T14:59:54.137Z,1761577194.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:54.140Z,1761577194.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 563.941223 m,
      bearing: 76.207815 deg,
      approach rate: -0.688864 m/s,
      LOS rate: 0.003841 deg/s,
      cmd heading: 77.043024 deg,
      new cmd heading: 77.047315 deg.

2025-10-27T14:59:54.141Z,1761577194.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344729 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:54.229Z,1761577194.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015329
2025-10-27T14:59:54.480Z,1761577194.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266569
2025-10-27T14:59:54.528Z,1761577194.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239158,-0.970793,-0.019073],[0.969724,0.237804,0.055545],[-0.049387,-0.031780,0.998274]]
2025-10-27T14:59:54.545Z,1761577194.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:54.547Z,1761577194.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:54.550Z,1761577194.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 563.659424 m,
      bearing: 76.209168 deg,
      approach rate: -0.687851 m/s,
      LOS rate: 0.003304 deg/s,
      cmd heading: 77.047314 deg,
      new cmd heading: 77.051374 deg.

2025-10-27T14:59:54.551Z,1761577194.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344800 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:54.733Z,1761577194.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518945
2025-10-27T14:59:54.926Z,1761577194.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233492,-0.971987,-0.026894],[0.971046,0.231651,0.058381],[-0.050516,-0.039747,0.997932]]
2025-10-27T14:59:54.950Z,1761577194.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:54.953Z,1761577194.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 563.380920 m,
      bearing: 76.210349 deg,
      approach rate: -0.689916 m/s,
      LOS rate: 0.002925 deg/s,
      cmd heading: 77.051378 deg,
      new cmd heading: 77.054920 deg.

2025-10-27T14:59:54.954Z,1761577194.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344862 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:54.985Z,1761577194.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771123
2025-10-27T14:59:55.241Z,1761577195.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026412
2025-10-27T14:59:55.327Z,1761577195.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229277,-0.972702,-0.035807],[0.971969,0.226828,0.061853],[-0.052042,-0.048985,0.997443]]
2025-10-27T14:59:55.415Z,1761577195.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:55.418Z,1761577195.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 563.085449 m,
      bearing: 76.212200 deg,
      approach rate: -0.658345 m/s,
      LOS rate: 0.004127 deg/s,
      cmd heading: 77.054923 deg,
      new cmd heading: 77.060479 deg.

2025-10-27T14:59:55.421Z,1761577195.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344959 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:55.488Z,1761577195.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274557
2025-10-27T14:59:55.740Z,1761577195.740 [DAT](INFO): DAT read: Rx Time:14:59:54.3933

2025-10-27T14:59:55.741Z,1761577195.741 [DAT](INFO): Rx dataTimestamp_ set to:1761577195.740717
2025-10-27T14:59:55.742Z,1761577195.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528411
2025-10-27T14:59:55.754Z,1761577195.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226658,-0.972936,-0.044970],[0.972509,0.223544,0.065230],[-0.053412,-0.058518,0.996856]]
2025-10-27T14:59:55.800Z,1761577195.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:55.802Z,1761577195.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 562.838806 m,
      bearing: 76.213689 deg,
      approach rate: -0.615491 m/s,
      LOS rate: 0.003718 deg/s,
      cmd heading: 77.060475 deg,
      new cmd heading: 77.064945 deg.

2025-10-27T14:59:55.816Z,1761577195.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345037 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:55.993Z,1761577195.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779258
2025-10-27T14:59:56.146Z,1761577196.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224837,-0.972809,-0.055586],[0.972878,0.220938,0.068514],[-0.054370,-0.069483,0.996100]]
2025-10-27T14:59:56.165Z,1761577196.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 579.88 m.
2025-10-27T14:59:56.168Z,1761577196.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 579.883972 m,
      nav range: 562.579956 m,
      bearing: 76.215217 deg,
      approach rate: -0.707947 m/s,
      LOS rate: 0.004180 deg/s,
      cmd heading: 77.064942 deg,
      new cmd heading: 77.069528 deg.

2025-10-27T14:59:56.169Z,1761577196.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345117 target range: 579.883972 and range: 581.70 m.
2025-10-27T14:59:56.248Z,1761577196.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033849
2025-10-27T14:59:56.501Z,1761577196.501 [DAT](INFO): DAT read: 14:59:54.3933 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 325,-0.28, 0.570,-0.966, 0.833, 0.657, PHS= 0.016,-1.578, 0.133, RAW= 153.5,  17.0, CAL= 154.2,  19.4, ROT= 355.8, -19.4

2025-10-27T14:59:56.502Z,1761577196.502 [DAT](INFO): got valid direction response:
 14:59:54.3933 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 325,-0.28, 0.570,-0.966, 0.833, 0.657, PHS= 0.016,-1.578, 0.133, RAW= 153.5,  17.0, CAL= 154.2,  19.4, ROT= 355.8, -19.4

2025-10-27T14:59:56.503Z,1761577196.503 [DAT](INFO): DAT read: Bearing 266.7,  -7.9 (Local)

2025-10-27T14:59:56.504Z,1761577196.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.7,  -7.9 (Local)

2025-10-27T14:59:56.505Z,1761577196.505 [DAT](INFO): DAT read: Range 11 to 50 : 573.6 m  (Round-trip  764.8 ms) speed  0.6 m/s

2025-10-27T14:59:56.506Z,1761577196.506 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T14:59:56.507Z,1761577196.507 [DAT](INFO): direction in FSK: [0.940690,-0.069080,0.332161]
2025-10-27T14:59:56.507Z,1761577196.507 [DAT](INFO): publishing direction and range info
2025-10-27T14:59:56.516Z,1761577196.516 [DAT](INFO): ****** received valid address query ******
2025-10-27T14:59:56.516Z,1761577196.516 [DAT](INFO): ****** received valid ping request ******
2025-10-27T14:59:56.516Z,1761577196.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T14:59:56.581Z,1761577196.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224181,-0.972174,-0.067975],[0.972981,0.219323,0.072143],[-0.055227,-0.082311,0.995075]]
2025-10-27T14:59:56.634Z,1761577196.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 573.599976 m,
      deltaT: 4.536011 s,
      deltaX: -8.100037 m,
      approachRate: -1.785718 m/s,
      rangeRepo size: 4

2025-10-27T14:59:56.641Z,1761577196.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 571.803162 m,
      bearing: 74.546476 deg,
      lat: 36.778999 deg,
      lon: -121.859541 deg,
      deltaT: 4.536011 s,
      deltaX: -8.080811 m,
      approachRate: -1.781479 m/s,
      posRepo size: 4

2025-10-27T14:59:56.641Z,1761577196.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T14:59:56.648Z,1761577196.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 558.132568 m,
      bearing: 76.112581 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004180 deg/s,
      cmd heading: 77.069525 deg,
      new cmd heading: 77.075398 deg.

2025-10-27T14:59:56.649Z,1761577196.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345219 target range: 571.803162 and range: 573.60 m.
2025-10-27T14:59:56.749Z,1761577196.749 [DAT](INFO): DAT read: user:837>

2025-10-27T14:59:56.750Z,1761577196.750 [DAT](INFO): DAT read: Tx time:14:59:55.7744

2025-10-27T14:59:56.751Z,1761577196.751 [DAT](INFO): Ping request sent.
2025-10-27T14:59:56.751Z,1761577196.751 [DAT](INFO): transmitted an acoustic signal
2025-10-27T14:59:56.752Z,1761577196.752 [DAT](INFO): publishing transmit ping time
2025-10-27T14:59:56.752Z,1761577196.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001131
2025-10-27T14:59:56.986Z,1761577196.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224623,-0.971196,-0.079522],[0.972832,0.218809,0.075630],[-0.056052,-0.094350,0.993960]]
2025-10-27T14:59:56.000Z,1761577197.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248945
2025-10-27T14:59:57.005Z,1761577197.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:57.007Z,1761577197.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T14:59:57.010Z,1761577197.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 557.880127 m,
      bearing: 76.114060 deg,
      approach rate: -0.676116 m/s,
      LOS rate: 0.003961 deg/s,
      cmd heading: 77.075399 deg,
      new cmd heading: 77.079836 deg.

2025-10-27T14:59:57.011Z,1761577197.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345297 target range: 571.803162 and range: 573.60 m.
2025-10-27T14:59:57.253Z,1761577197.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501556
2025-10-27T14:59:57.387Z,1761577197.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224756,-0.970367,-0.088733],[0.972764,0.218143,0.078385],[-0.056706,-0.103934,0.992966]]
2025-10-27T14:59:57.445Z,1761577197.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T14:59:57.452Z,1761577197.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 557.612488 m,
      bearing: 76.116493 deg,
      approach rate: -0.610857 m/s,
      LOS rate: 0.005556 deg/s,
      cmd heading: 77.079839 deg,
      new cmd heading: 77.087142 deg.

2025-10-27T14:59:57.453Z,1761577197.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345424 target range: 571.803162 and range: 573.60 m.
2025-10-27T14:59:57.504Z,1761577197.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753153
2025-10-27T14:59:57.757Z,1761577197.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006066
2025-10-27T14:59:57.814Z,1761577197.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225346,-0.969334,-0.098037],[0.972584,0.217879,0.081301],[-0.057448,-0.113670,0.991856]]
2025-10-27T14:59:57.837Z,1761577197.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T14:59:57.840Z,1761577197.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 557.349670 m,
      bearing: 76.118904 deg,
      approach rate: -0.670297 m/s,
      LOS rate: 0.006152 deg/s,
      cmd heading: 77.087141 deg,
      new cmd heading: 77.094377 deg.

2025-10-27T14:59:57.841Z,1761577197.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345551 target range: 571.803162 and range: 573.60 m.
2025-10-27T14:59:58.008Z,1761577198.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257116
2025-10-27T14:59:58.210Z,1761577198.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225792,-0.968473,-0.105254],[0.972435,0.217615,0.083743],[-0.058198,-0.121261,0.990913]]
2025-10-27T14:59:58.229Z,1761577198.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T14:59:58.232Z,1761577198.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 557.100281 m,
      bearing: 76.121208 deg,
      approach rate: -0.637318 m/s,
      LOS rate: 0.005892 deg/s,
      cmd heading: 77.094374 deg,
      new cmd heading: 77.101290 deg.

2025-10-27T14:59:58.232Z,1761577198.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345671 target range: 571.803162 and range: 573.60 m.
2025-10-27T14:59:58.260Z,1761577198.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508997
2025-10-27T14:59:58.516Z,1761577198.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764501
2025-10-27T14:59:58.690Z,1761577198.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226476,-0.967899,-0.108995],[0.972223,0.217851,0.085573],[-0.059081,-0.125348,0.990352]]
2025-10-27T14:59:58.713Z,1761577198.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T14:59:58.715Z,1761577198.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 556.794128 m,
      bearing: 76.124063 deg,
      approach rate: -0.632655 m/s,
      LOS rate: 0.005904 deg/s,
      cmd heading: 77.101293 deg,
      new cmd heading: 77.109863 deg.

2025-10-27T14:59:58.716Z,1761577198.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345821 target range: 571.803162 and range: 573.60 m.
2025-10-27T14:59:58.765Z,1761577198.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013703
2025-10-27T14:59:59.017Z,1761577199.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265411
2025-10-27T14:59:59.093Z,1761577199.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226563,-0.967775,-0.109913],[0.972178,0.217802,0.086216],[-0.059498,-0.126389,0.990195]]
2025-10-27T14:59:59.144Z,1761577199.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T14:59:59.161Z,1761577199.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T14:59:59.181Z,1761577199.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 556.536987 m,
      bearing: 76.126467 deg,
      approach rate: -0.581808 m/s,
      LOS rate: 0.005440 deg/s,
      cmd heading: 77.109865 deg,
      new cmd heading: 77.117078 deg.

2025-10-27T14:59:59.189Z,1761577199.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345947 target range: 571.803162 and range: 573.60 m.
2025-10-27T14:59:59.268Z,1761577199.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516844
2025-10-27T14:59:59.520Z,1761577199.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768855
2025-10-27T14:59:59.647Z,1761577199.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226719,-0.967781,-0.109536],[0.972128,0.217961,0.086377],[-0.059719,-0.126066,0.990223]]
2025-10-27T14:59:59.696Z,1761577199.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T14:59:59.699Z,1761577199.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 556.165955 m,
      bearing: 76.130227 deg,
      approach rate: -0.684788 m/s,
      LOS rate: 0.006945 deg/s,
      cmd heading: 77.117077 deg,
      new cmd heading: 77.128366 deg.

2025-10-27T14:59:59.700Z,1761577199.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346144 target range: 571.803162 and range: 573.60 m.
2025-10-27T14:59:59.773Z,1761577199.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021692
2025-10-27T15:00:00.024Z,1761577200.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272850
2025-10-27T15:00:00.056Z,1761577200.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226531,-0.967872,-0.109120],[0.972168,0.217804,0.086318],[-0.059778,-0.125636,0.990274]]
2025-10-27T15:00:00.102Z,1761577200.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T15:00:00.110Z,1761577200.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 555.912903 m,
      bearing: 76.132790 deg,
      approach rate: -0.624457 m/s,
      LOS rate: 0.006327 deg/s,
      cmd heading: 77.128368 deg,
      new cmd heading: 77.136059 deg.

2025-10-27T15:00:00.111Z,1761577200.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346278 target range: 571.803162 and range: 573.60 m.
2025-10-27T15:00:00.276Z,1761577200.276 [DAT](INFO): DAT read: Rx Time:14:59:58.9390

2025-10-27T15:00:00.276Z,1761577200.276 [DAT](INFO): Rx dataTimestamp_ set to:1761577200.276196
2025-10-27T15:00:00.277Z,1761577200.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525987
2025-10-27T15:00:00.457Z,1761577200.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225839,-0.968123,-0.108327],[0.972335,0.217205,0.085946],[-0.059677,-0.124740,0.990393]]
2025-10-27T15:00:00.476Z,1761577200.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T15:00:00.478Z,1761577200.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 555.670227 m,
      bearing: 76.135232 deg,
      approach rate: -0.648625 m/s,
      LOS rate: 0.006529 deg/s,
      cmd heading: 77.136058 deg,
      new cmd heading: 77.143387 deg.

2025-10-27T15:00:00.480Z,1761577200.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346406 target range: 571.803162 and range: 573.60 m.
2025-10-27T15:00:00.528Z,1761577200.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777101
2025-10-27T15:00:00.780Z,1761577200.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028923
2025-10-27T15:00:00.875Z,1761577200.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224951,-0.968402,-0.107677],[0.972564,0.216433,0.085306],[-0.059305,-0.123912,0.990519]]
2025-10-27T15:00:00.902Z,1761577200.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.80 m.
2025-10-27T15:00:00.905Z,1761577200.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 571.803162 m,
      nav range: 555.398743 m,
      bearing: 76.137940 deg,
      approach rate: -0.636707 m/s,
      LOS rate: 0.006356 deg/s,
      cmd heading: 77.143387 deg,
      new cmd heading: 77.151517 deg.

2025-10-27T15:00:00.906Z,1761577200.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346548 target range: 571.803162 and range: 573.60 m.
2025-10-27T15:00:01.037Z,1761577201.037 [DAT](INFO): DAT read: 14:59:58.9390 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 393,-0.28, 2.953, 1.385,-3.025, 2.922, PHS= 0.133,-1.492, 0.292, RAW= 154.6,  12.4, CAL= 154.8,  13.9, ROT= 355.2, -13.9

2025-10-27T15:00:01.038Z,1761577201.038 [DAT](INFO): got valid direction response:
 14:59:58.9390 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 393,-0.28, 2.953, 1.385,-3.025, 2.922, PHS= 0.133,-1.492, 0.292, RAW= 154.6,  12.4, CAL= 154.8,  13.9, ROT= 355.2, -13.9

2025-10-27T15:00:01.043Z,1761577201.043 [DAT](INFO): DAT read: Bearing 260.7,  -9.7 (Local)

2025-10-27T15:00:01.066Z,1761577201.066 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.7,  -9.7 (Local)

2025-10-27T15:00:01.069Z,1761577201.069 [DAT](INFO): DAT read: Range 11 to 50 : 570.3 m  (Round-trip  760.5 ms) speed  0.6 m/s

2025-10-27T15:00:01.070Z,1761577201.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:01.092Z,1761577201.092 [DAT](INFO): direction in FSK: [0.967312,-0.081227,0.240228]
2025-10-27T15:00:01.093Z,1761577201.093 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:01.096Z,1761577201.096 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:01.096Z,1761577201.096 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:01.096Z,1761577201.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:01.262Z,1761577201.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223383,-0.968778,-0.107561],[0.972988,0.215027,0.084009],[-0.058257,-0.123422,0.990643]]
2025-10-27T15:00:01.284Z,1761577201.284 [DAT](INFO): DAT read: user:838>

2025-10-27T15:00:01.285Z,1761577201.285 [DAT](INFO): DAT read: Tx time:15:00:00.3744

2025-10-27T15:00:01.285Z,1761577201.285 [DAT](INFO): Ping request sent.
2025-10-27T15:00:01.285Z,1761577201.285 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:01.285Z,1761577201.285 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:01.286Z,1761577201.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-27T15:00:01.377Z,1761577201.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 570.299988 m,
      deltaT: 4.536004 s,
      deltaX: -3.299988 m,
      approachRate: -0.727510 m/s,
      rangeRepo size: 4

2025-10-27T15:00:01.383Z,1761577201.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 568.520935 m,
      bearing: 74.096808 deg,
      lat: 36.779079 deg,
      lon: -121.859567 deg,
      deltaT: 4.536004 s,
      deltaX: -3.282227 m,
      approachRate: -0.723594 m/s,
      posRepo size: 4

2025-10-27T15:00:01.384Z,1761577201.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.52 m.
2025-10-27T15:00:01.388Z,1761577201.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.520935 m,
      nav range: 555.043945 m,
      bearing: 75.194998 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006356 deg/s,
      cmd heading: 77.151515 deg,
      new cmd heading: 77.160558 deg.

2025-10-27T15:00:01.389Z,1761577201.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346706 target range: 568.520935 and range: 570.30 m.
2025-10-27T15:00:01.536Z,1761577201.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250809
2025-10-27T15:00:01.695Z,1761577201.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222264,-0.969007,-0.107813],[0.973303,0.214025,0.082907],[-0.057262,-0.123362,0.990708]]
2025-10-27T15:00:01.712Z,1761577201.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:01.733Z,1761577201.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.52 m.
2025-10-27T15:00:01.742Z,1761577201.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.520935 m,
      nav range: 554.799683 m,
      bearing: 75.197121 deg,
      approach rate: -0.686168 m/s,
      LOS rate: 0.005968 deg/s,
      cmd heading: 77.160558 deg,
      new cmd heading: 77.166931 deg.

2025-10-27T15:00:01.748Z,1761577201.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346817 target range: 568.520935 and range: 570.30 m.
2025-10-27T15:00:01.788Z,1761577201.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503362
2025-10-27T15:00:02.040Z,1761577202.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754755
2025-10-27T15:00:02.195Z,1761577202.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219000,-0.969761,-0.107714],[0.974192,0.211134,0.079826],[-0.054670,-0.122416,0.990972]]
2025-10-27T15:00:02.214Z,1761577202.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.52 m.
2025-10-27T15:00:02.217Z,1761577202.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.520935 m,
      nav range: 554.471069 m,
      bearing: 75.199864 deg,
      approach rate: -0.682126 m/s,
      LOS rate: 0.005697 deg/s,
      cmd heading: 77.166931 deg,
      new cmd heading: 77.175165 deg.

2025-10-27T15:00:02.218Z,1761577202.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346961 target range: 568.520935 and range: 570.30 m.
2025-10-27T15:00:02.292Z,1761577202.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007026
2025-10-27T15:00:02.546Z,1761577202.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260942
2025-10-27T15:00:02.594Z,1761577202.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217225,-0.970120,-0.108074],[0.974675,0.209545,0.078093],[-0.053113,-0.122301,0.991071]]
2025-10-27T15:00:02.613Z,1761577202.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.52 m.
2025-10-27T15:00:02.632Z,1761577202.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.520935 m,
      nav range: 554.208984 m,
      bearing: 75.202004 deg,
      approach rate: -0.656677 m/s,
      LOS rate: 0.005364 deg/s,
      cmd heading: 77.175168 deg,
      new cmd heading: 77.181590 deg.

2025-10-27T15:00:02.633Z,1761577202.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347073 target range: 568.520935 and range: 570.30 m.
2025-10-27T15:00:02.796Z,1761577202.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510885
2025-10-27T15:00:03.049Z,1761577203.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763516
2025-10-27T15:00:03.107Z,1761577203.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215501,-0.970585,-0.107350],[0.975185,0.208196,0.075286],[-0.050722,-0.120911,0.991367]]
2025-10-27T15:00:03.124Z,1761577203.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:00:03.193Z,1761577203.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.52 m.
2025-10-27T15:00:03.200Z,1761577203.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.520935 m,
      nav range: 553.869446 m,
      bearing: 75.204716 deg,
      approach rate: -0.591646 m/s,
      LOS rate: 0.004728 deg/s,
      cmd heading: 77.181588 deg,
      new cmd heading: 77.189728 deg.

2025-10-27T15:00:03.201Z,1761577203.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347215 target range: 568.520935 and range: 570.30 m.
2025-10-27T15:00:03.300Z,1761577203.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014803
2025-10-27T15:00:03.556Z,1761577203.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270485
2025-10-27T15:00:03.639Z,1761577203.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214066,-0.970843,-0.107888],[0.975648,0.207094,0.072267],[-0.047817,-0.120730,0.991533]]
2025-10-27T15:00:03.702Z,1761577203.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.52 m.
2025-10-27T15:00:03.709Z,1761577203.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.520935 m,
      nav range: 553.499634 m,
      bearing: 75.208438 deg,
      approach rate: -0.718573 m/s,
      LOS rate: 0.007237 deg/s,
      cmd heading: 77.189730 deg,
      new cmd heading: 77.200904 deg.

2025-10-27T15:00:03.710Z,1761577203.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347410 target range: 568.520935 and range: 570.30 m.
2025-10-27T15:00:03.804Z,1761577203.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518851
2025-10-27T15:00:04.057Z,1761577204.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771696
2025-10-27T15:00:04.058Z,1761577204.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212879,-0.970868,-0.109995],[0.976063,0.206174,0.069231],[-0.044535,-0.122100,0.991518]]
2025-10-27T15:00:04.081Z,1761577204.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:04.083Z,1761577204.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.52 m.
2025-10-27T15:00:04.086Z,1761577204.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.520935 m,
      nav range: 553.224792 m,
      bearing: 75.211170 deg,
      approach rate: -0.720994 m/s,
      LOS rate: 0.007171 deg/s,
      cmd heading: 77.200904 deg,
      new cmd heading: 77.209105 deg.

2025-10-27T15:00:04.087Z,1761577204.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347553 target range: 568.520935 and range: 570.30 m.
2025-10-27T15:00:04.127Z,1761577204.127 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:00:04.309Z,1761577204.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023347
2025-10-27T15:00:04.447Z,1761577204.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212501,-0.970662,-0.112509],[0.976289,0.206037,0.066397],[-0.041268,-0.123951,0.991430]]
2025-10-27T15:00:04.466Z,1761577204.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.52 m.
2025-10-27T15:00:04.468Z,1761577204.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.520935 m,
      nav range: 552.965454 m,
      bearing: 75.213739 deg,
      approach rate: -0.677727 m/s,
      LOS rate: 0.006717 deg/s,
      cmd heading: 77.209107 deg,
      new cmd heading: 77.216818 deg.

2025-10-27T15:00:04.469Z,1761577204.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347688 target range: 568.520935 and range: 570.30 m.
2025-10-27T15:00:04.561Z,1761577204.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275285
2025-10-27T15:00:04.812Z,1761577204.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526794
2025-10-27T15:00:04.852Z,1761577204.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212877,-0.970302,-0.114879],[0.976345,0.206683,0.063508],[-0.037878,-0.125681,0.991347]]
2025-10-27T15:00:04.899Z,1761577204.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.52 m.
2025-10-27T15:00:04.902Z,1761577204.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.520935 m,
      nav range: 552.688110 m,
      bearing: 75.216498 deg,
      approach rate: -0.670904 m/s,
      LOS rate: 0.006678 deg/s,
      cmd heading: 77.216819 deg,
      new cmd heading: 77.225101 deg.

2025-10-27T15:00:04.903Z,1761577204.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347832 target range: 568.520935 and range: 570.30 m.
2025-10-27T15:00:05.065Z,1761577205.065 [DAT](INFO): DAT read: Rx Time:15:00:03.5421

2025-10-27T15:00:05.066Z,1761577205.066 [DAT](INFO): Rx dataTimestamp_ set to:1761577205.065602
2025-10-27T15:00:05.068Z,1761577205.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782328
2025-10-27T15:00:05.254Z,1761577205.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213482,-0.969895,-0.117174],[0.976347,0.207607,0.060385],[-0.034241,-0.127293,0.991274]]
2025-10-27T15:00:05.305Z,1761577205.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.52 m.
2025-10-27T15:00:05.309Z,1761577205.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.520935 m,
      nav range: 552.395325 m,
      bearing: 75.219375 deg,
      approach rate: -0.687034 m/s,
      LOS rate: 0.006755 deg/s,
      cmd heading: 77.225104 deg,
      new cmd heading: 77.233739 deg.

2025-10-27T15:00:05.310Z,1761577205.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347983 target range: 568.520935 and range: 570.30 m.
2025-10-27T15:00:05.316Z,1761577205.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030868
2025-10-27T15:00:05.580Z,1761577205.580 [DAT](INFO): DAT read: 15:00:03.5421 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 473,-0.23, 2.198, 0.672, 2.545, 2.203, PHS= 0.097,-1.486, 0.298, RAW= 155.9,  12.8, CAL= 156.2,  14.4, ROT= 353.8, -14.4

2025-10-27T15:00:05.581Z,1761577205.581 [DAT](INFO): got valid direction response:
 15:00:03.5421 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 473,-0.23, 2.198, 0.672, 2.545, 2.203, PHS= 0.097,-1.486, 0.298, RAW= 155.9,  12.8, CAL= 156.2,  14.4, ROT= 353.8, -14.4

2025-10-27T15:00:05.582Z,1761577205.582 [DAT](INFO): DAT read: Bearing 261.9,  -9.9 (Local)

2025-10-27T15:00:05.582Z,1761577205.582 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.9,  -9.9 (Local)

2025-10-27T15:00:05.589Z,1761577205.589 [DAT](INFO): DAT read: Range 11 to 50 : 572.7 m  (Round-trip  763.6 ms) speed  0.4 m/s

2025-10-27T15:00:05.590Z,1761577205.590 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:05.607Z,1761577205.607 [DAT](INFO): direction in FSK: [0.962918,-0.104606,0.248690]
2025-10-27T15:00:05.608Z,1761577205.608 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:05.621Z,1761577205.621 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:05.621Z,1761577205.621 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:05.621Z,1761577205.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:05.766Z,1761577205.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 572.700012 m,
      deltaT: 4.536392 s,
      deltaX: 2.400024 m,
      approachRate: 0.529060 m/s,
      rangeRepo size: 4

2025-10-27T15:00:05.773Z,1761577205.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 570.978394 m,
      bearing: 73.421876 deg,
      lat: 36.779108 deg,
      lon: -121.859577 deg,
      deltaT: 4.536392 s,
      deltaX: 2.457458 m,
      approachRate: 0.541721 m/s,
      posRepo size: 4

2025-10-27T15:00:05.773Z,1761577205.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:05.781Z,1761577205.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 552.101318 m,
      bearing: 74.871082 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006755 deg/s,
      cmd heading: 77.233737 deg,
      new cmd heading: 77.243066 deg.

2025-10-27T15:00:05.782Z,1761577205.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348146 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:05.820Z,1761577205.820 [DAT](INFO): DAT read: user:839>

2025-10-27T15:00:05.821Z,1761577205.821 [DAT](INFO): DAT read: Tx time:15:00:04.8744

2025-10-27T15:00:05.821Z,1761577205.821 [DAT](INFO): Ping request sent.
2025-10-27T15:00:05.821Z,1761577205.821 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:05.821Z,1761577205.821 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:05.822Z,1761577205.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-27T15:00:06.072Z,1761577206.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250766
2025-10-27T15:00:06.088Z,1761577206.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216022,-0.968926,-0.120487],[0.976015,0.210878,0.054077],[-0.026989,-0.129279,0.991241]]
2025-10-27T15:00:06.117Z,1761577206.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:06.125Z,1761577206.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:06.132Z,1761577206.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 551.849915 m,
      bearing: 74.873460 deg,
      approach rate: -0.699484 m/s,
      LOS rate: 0.006621 deg/s,
      cmd heading: 77.243067 deg,
      new cmd heading: 77.250206 deg.

2025-10-27T15:00:06.133Z,1761577206.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348270 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:06.324Z,1761577206.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502711
2025-10-27T15:00:06.491Z,1761577206.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217442,-0.968201,-0.123717],[0.975791,0.212578,0.051402],[-0.023468,-0.131899,0.990985]]
2025-10-27T15:00:06.509Z,1761577206.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:06.512Z,1761577206.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 551.575745 m,
      bearing: 74.876096 deg,
      approach rate: -0.713187 m/s,
      LOS rate: 0.006858 deg/s,
      cmd heading: 77.250204 deg,
      new cmd heading: 77.258114 deg.

2025-10-27T15:00:06.513Z,1761577206.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348408 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:06.577Z,1761577206.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756191
2025-10-27T15:00:06.828Z,1761577206.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006681
2025-10-27T15:00:06.893Z,1761577206.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218840,-0.967584,-0.126059],[0.975558,0.214326,0.048495],[-0.019906,-0.133590,0.990837]]
2025-10-27T15:00:06.944Z,1761577206.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:06.946Z,1761577206.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 551.282715 m,
      bearing: 74.878956 deg,
      approach rate: -0.674641 m/s,
      LOS rate: 0.006588 deg/s,
      cmd heading: 77.258114 deg,
      new cmd heading: 77.266699 deg.

2025-10-27T15:00:06.948Z,1761577206.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348558 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:07.080Z,1761577207.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259156
2025-10-27T15:00:07.298Z,1761577207.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220278,-0.967142,-0.126941],[0.975298,0.216174,0.045418],[-0.016484,-0.133810,0.990870]]
2025-10-27T15:00:07.332Z,1761577207.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510879
2025-10-27T15:00:07.369Z,1761577207.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:07.372Z,1761577207.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 550.987061 m,
      bearing: 74.880385 deg,
      approach rate: -0.695911 m/s,
      LOS rate: 0.003366 deg/s,
      cmd heading: 77.266699 deg,
      new cmd heading: 77.270990 deg.

2025-10-27T15:00:07.373Z,1761577207.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348633 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:07.585Z,1761577207.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763408
2025-10-27T15:00:07.702Z,1761577207.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221800,-0.966635,-0.128150],[0.975003,0.218074,0.042584],[-0.013217,-0.134392,0.990840]]
2025-10-27T15:00:07.752Z,1761577207.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:07.760Z,1761577207.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 550.725403 m,
      bearing: 74.881693 deg,
      approach rate: -0.682383 m/s,
      LOS rate: 0.003413 deg/s,
      cmd heading: 77.270989 deg,
      new cmd heading: 77.274915 deg.

2025-10-27T15:00:07.761Z,1761577207.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348702 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:07.837Z,1761577207.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015376
2025-10-27T15:00:08.088Z,1761577208.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266718
2025-10-27T15:00:08.110Z,1761577208.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223143,-0.966262,-0.128626],[0.974734,0.219823,0.039642],[-0.010030,-0.134222,0.990901]]
2025-10-27T15:00:08.133Z,1761577208.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:08.135Z,1761577208.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:08.137Z,1761577208.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 550.437622 m,
      bearing: 74.883176 deg,
      approach rate: -0.752136 m/s,
      LOS rate: 0.003876 deg/s,
      cmd heading: 77.274916 deg,
      new cmd heading: 77.279365 deg.

2025-10-27T15:00:08.138Z,1761577208.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348779 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:08.340Z,1761577208.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518698
2025-10-27T15:00:08.510Z,1761577208.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224134,-0.966105,-0.128084],[0.974534,0.221248,0.036520],[-0.006944,-0.133008,0.991091]]
2025-10-27T15:00:08.563Z,1761577208.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:08.566Z,1761577208.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 550.135254 m,
      bearing: 74.884771 deg,
      approach rate: -0.706285 m/s,
      LOS rate: 0.003728 deg/s,
      cmd heading: 77.279363 deg,
      new cmd heading: 77.284151 deg.

2025-10-27T15:00:08.567Z,1761577208.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348863 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:08.592Z,1761577208.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770880
2025-10-27T15:00:08.848Z,1761577208.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026442
2025-10-27T15:00:08.918Z,1761577208.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224398,-0.966122,-0.127494],[0.974490,0.221939,0.033362],[-0.003936,-0.131728,0.991278]]
2025-10-27T15:00:08.958Z,1761577208.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:08.965Z,1761577208.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 549.862610 m,
      bearing: 74.886223 deg,
      approach rate: -0.690191 m/s,
      LOS rate: 0.003677 deg/s,
      cmd heading: 77.284151 deg,
      new cmd heading: 77.288508 deg.

2025-10-27T15:00:08.966Z,1761577208.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348939 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:09.096Z,1761577209.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274856
2025-10-27T15:00:09.318Z,1761577209.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224562,-0.966021,-0.127970],[0.974459,0.222497,0.030392],[-0.000886,-0.131526,0.991312]]
2025-10-27T15:00:09.348Z,1761577209.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526684
2025-10-27T15:00:09.386Z,1761577209.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:09.389Z,1761577209.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 549.528320 m,
      bearing: 74.885945 deg,
      approach rate: -0.780901 m/s,
      LOS rate: -0.000650 deg/s,
      cmd heading: 77.288508 deg,
      new cmd heading: 77.287674 deg.

2025-10-27T15:00:09.390Z,1761577209.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348924 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:09.601Z,1761577209.601 [DAT](INFO): DAT read: Rx Time:15:00:08.0400

2025-10-27T15:00:09.601Z,1761577209.601 [DAT](INFO): Rx dataTimestamp_ set to:1761577209.601001
2025-10-27T15:00:09.602Z,1761577209.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781000
2025-10-27T15:00:09.792Z,1761577209.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.98 m.
2025-10-27T15:00:09.795Z,1761577209.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 570.978394 m,
      nav range: 549.233032 m,
      bearing: 74.885699 deg,
      approach rate: -0.751107 m/s,
      LOS rate: -0.000626 deg/s,
      cmd heading: 77.287675 deg,
      new cmd heading: 77.286937 deg.

2025-10-27T15:00:09.796Z,1761577209.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348912 target range: 570.978394 and range: 572.70 m.
2025-10-27T15:00:09.853Z,1761577209.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031583
2025-10-27T15:00:10.109Z,1761577210.109 [DAT](INFO): DAT read: 15:00:08.0400 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.13,-3.115, 1.739,-2.957, 2.899, PHS= 0.371,-1.115, 0.383, RAW= 150.4,   4.9, CAL= 149.6,   5.0, ROT=   0.4,  -5.0

2025-10-27T15:00:10.110Z,1761577210.110 [DAT](INFO): got valid direction response:
 15:00:08.0400 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.13,-3.115, 1.739,-2.957, 2.899, PHS= 0.371,-1.115, 0.383, RAW= 150.4,   4.9, CAL= 149.6,   5.0, ROT=   0.4,  -5.0

2025-10-27T15:00:10.119Z,1761577210.119 [DAT](INFO): DAT read: Bearing 252.1,  -0.3 (Local)

2025-10-27T15:00:10.120Z,1761577210.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.1,  -0.3 (Local)

2025-10-27T15:00:10.121Z,1761577210.121 [DAT](INFO): DAT read: Range 11 to 50 : 571.1 m  (Round-trip  761.5 ms) speed  0.7 m/s

2025-10-27T15:00:10.122Z,1761577210.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:10.129Z,1761577210.129 [DAT](INFO): direction in FSK: [0.996170,0.006955,0.087156]
2025-10-27T15:00:10.129Z,1761577210.129 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:10.132Z,1761577210.132 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:10.132Z,1761577210.132 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:10.133Z,1761577210.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:10.140Z,1761577210.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222998,-0.965909,-0.131499],[0.974784,0.222099,0.021652],[0.008292,-0.133011,0.991080]]
2025-10-27T15:00:10.223Z,1761577210.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 571.099976 m,
      deltaT: 4.535778 s,
      deltaX: -1.600037 m,
      approachRate: -0.352759 m/s,
      rangeRepo size: 4

2025-10-27T15:00:10.229Z,1761577210.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 569.374756 m,
      bearing: 78.178272 deg,
      lat: 36.779108 deg,
      lon: -121.859567 deg,
      deltaT: 4.535778 s,
      deltaX: -1.603638 m,
      approachRate: -0.353553 m/s,
      posRepo size: 4

2025-10-27T15:00:10.230Z,1761577210.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:10.236Z,1761577210.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 549.755127 m,
      bearing: 74.909076 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000626 deg/s,
      cmd heading: 77.286937 deg,
      new cmd heading: 77.286106 deg.

2025-10-27T15:00:10.237Z,1761577210.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348897 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:10.356Z,1761577210.356 [DAT](INFO): DAT read: user:840>

2025-10-27T15:00:10.357Z,1761577210.357 [DAT](INFO): DAT read: Tx time:15:00:09.3744

2025-10-27T15:00:10.357Z,1761577210.357 [DAT](INFO): Ping request sent.
2025-10-27T15:00:10.357Z,1761577210.357 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:10.357Z,1761577210.357 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:10.358Z,1761577210.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-27T15:00:10.573Z,1761577210.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:10.576Z,1761577210.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:10.578Z,1761577210.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 549.477661 m,
      bearing: 74.908807 deg,
      approach rate: -0.784334 m/s,
      LOS rate: -0.000759 deg/s,
      cmd heading: 77.286104 deg,
      new cmd heading: 77.285299 deg.

2025-10-27T15:00:10.580Z,1761577210.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348883 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:10.608Z,1761577210.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250768
2025-10-27T15:00:10.860Z,1761577210.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502575
2025-10-27T15:00:10.943Z,1761577210.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220474,-0.966197,-0.133620],[0.975280,0.220458,0.015102],[0.014866,-0.133647,0.990918]]
2025-10-27T15:00:10.977Z,1761577210.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:10.979Z,1761577210.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 549.176697 m,
      bearing: 74.908434 deg,
      approach rate: -0.750737 m/s,
      LOS rate: -0.000931 deg/s,
      cmd heading: 77.285298 deg,
      new cmd heading: 77.284178 deg.

2025-10-27T15:00:10.980Z,1761577210.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348863 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:11.115Z,1761577211.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757195
2025-10-27T15:00:11.364Z,1761577211.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006601
2025-10-27T15:00:11.369Z,1761577211.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219420,-0.966392,-0.133948],[0.975464,0.219840,0.011838],[0.018007,-0.133259,0.990918]]
2025-10-27T15:00:11.418Z,1761577211.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:11.421Z,1761577211.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 548.836121 m,
      bearing: 74.908354 deg,
      approach rate: -0.771996 m/s,
      LOS rate: -0.000181 deg/s,
      cmd heading: 77.284178 deg,
      new cmd heading: 77.283939 deg.

2025-10-27T15:00:11.422Z,1761577211.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348859 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:11.616Z,1761577211.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258643
2025-10-27T15:00:11.788Z,1761577211.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217946,-0.966617,-0.134722],[0.975726,0.218833,0.008377],[0.021384,-0.133277,0.990848]]
2025-10-27T15:00:11.823Z,1761577211.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:11.829Z,1761577211.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 548.535889 m,
      bearing: 74.908237 deg,
      approach rate: -0.741700 m/s,
      LOS rate: -0.000290 deg/s,
      cmd heading: 77.283939 deg,
      new cmd heading: 77.283587 deg.

2025-10-27T15:00:11.830Z,1761577211.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348853 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:11.868Z,1761577211.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510823
2025-10-27T15:00:12.120Z,1761577212.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762530
2025-10-27T15:00:12.256Z,1761577212.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216650,-0.966605,-0.136889],[0.975928,0.218037,0.004961],[0.025052,-0.134668,0.990574]]
2025-10-27T15:00:12.274Z,1761577212.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:12.293Z,1761577212.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 548.175415 m,
      bearing: 74.908047 deg,
      approach rate: -0.797824 m/s,
      LOS rate: -0.000421 deg/s,
      cmd heading: 77.283590 deg,
      new cmd heading: 77.283019 deg.

2025-10-27T15:00:12.294Z,1761577212.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348843 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:12.373Z,1761577212.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015291
2025-10-27T15:00:12.624Z,1761577212.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266637
2025-10-27T15:00:12.665Z,1761577212.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215499,-0.966382,-0.140239],[0.976068,0.217463,0.001346],[0.029196,-0.137173,0.990117]]
2025-10-27T15:00:12.681Z,1761577212.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:12.684Z,1761577212.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:12.686Z,1761577212.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 547.860168 m,
      bearing: 74.907842 deg,
      approach rate: -0.770079 m/s,
      LOS rate: -0.000501 deg/s,
      cmd heading: 77.283017 deg,
      new cmd heading: 77.282402 deg.

2025-10-27T15:00:12.688Z,1761577212.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348832 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:12.876Z,1761577212.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519046
2025-10-27T15:00:13.065Z,1761577213.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214815,-0.965980,-0.144005],[0.976082,0.217391,-0.002215],[0.033445,-0.140085,0.989574]]
2025-10-27T15:00:13.084Z,1761577213.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:13.087Z,1761577213.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 547.551086 m,
      bearing: 74.907619 deg,
      approach rate: -0.772222 m/s,
      LOS rate: -0.000558 deg/s,
      cmd heading: 77.282402 deg,
      new cmd heading: 77.281732 deg.

2025-10-27T15:00:13.088Z,1761577213.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348821 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:13.131Z,1761577213.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772867
2025-10-27T15:00:13.380Z,1761577213.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022587
2025-10-27T15:00:13.475Z,1761577213.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214730,-0.965658,-0.146272],[0.975942,0.217945,-0.006125],[0.037794,-0.141438,0.989225]]
2025-10-27T15:00:13.591Z,1761577213.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:13.594Z,1761577213.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 547.191833 m,
      bearing: 74.909133 deg,
      approach rate: -0.708851 m/s,
      LOS rate: 0.002990 deg/s,
      cmd heading: 77.281733 deg,
      new cmd heading: 77.286279 deg.

2025-10-27T15:00:13.595Z,1761577213.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348900 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:13.632Z,1761577213.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275116
2025-10-27T15:00:13.884Z,1761577213.884 [DAT](INFO): DAT read: Rx Time:15:00:12.5260

2025-10-27T15:00:13.884Z,1761577213.884 [DAT](INFO): Rx dataTimestamp_ set to:1761577213.884186
2025-10-27T15:00:13.885Z,1761577213.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527717
2025-10-27T15:00:13.889Z,1761577213.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214337,-0.965800,-0.145910],[0.975843,0.218203,-0.010840],[0.042307,-0.140062,0.989239]]
2025-10-27T15:00:13.952Z,1761577213.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:13.954Z,1761577213.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 546.944763 m,
      bearing: 74.910165 deg,
      approach rate: -0.693357 m/s,
      LOS rate: 0.002895 deg/s,
      cmd heading: 77.286282 deg,
      new cmd heading: 77.289377 deg.

2025-10-27T15:00:13.964Z,1761577213.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348954 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:14.136Z,1761577214.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778643
2025-10-27T15:00:14.285Z,1761577214.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213763,-0.966032,-0.145214],[0.975776,0.218229,-0.015368],[0.046536,-0.138412,0.989281]]
2025-10-27T15:00:14.324Z,1761577214.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.37 m.
2025-10-27T15:00:14.326Z,1761577214.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.374756 m,
      nav range: 546.672119 m,
      bearing: 74.911286 deg,
      approach rate: -0.723870 m/s,
      LOS rate: 0.002978 deg/s,
      cmd heading: 77.289376 deg,
      new cmd heading: 77.292741 deg.

2025-10-27T15:00:14.328Z,1761577214.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349013 target range: 569.374756 and range: 571.10 m.
2025-10-27T15:00:14.394Z,1761577214.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036298
2025-10-27T15:00:14.645Z,1761577214.645 [DAT](INFO): DAT read: 15:00:12.5260 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 291, 0.29,-0.824,-2.309,-0.537,-0.903, PHS= 0.181,-1.362, 0.322, RAW= 154.3,  10.6, CAL= 154.2,  11.6, ROT= 355.8, -11.6

2025-10-27T15:00:14.646Z,1761577214.646 [DAT](INFO): got valid direction response:
 15:00:12.5260 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 291, 0.29,-0.824,-2.309,-0.537,-0.903, PHS= 0.181,-1.362, 0.322, RAW= 154.3,  10.6, CAL= 154.2,  11.6, ROT= 355.8, -11.6

2025-10-27T15:00:14.647Z,1761577214.647 [DAT](INFO): DAT read: Bearing 257.9,  -3.8 (Local)

2025-10-27T15:00:14.648Z,1761577214.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.9,  -3.8 (Local)

2025-10-27T15:00:14.649Z,1761577214.649 [DAT](INFO): DAT read: Range 11 to 50 : 560.6 m  (Round-trip  747.5 ms) speed  0.7 m/s

2025-10-27T15:00:14.650Z,1761577214.650 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:14.651Z,1761577214.651 [DAT](INFO): direction in FSK: [0.976945,-0.071742,0.201078]
2025-10-27T15:00:14.651Z,1761577214.651 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:14.654Z,1761577214.654 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:14.654Z,1761577214.654 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:14.655Z,1761577214.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:14.796Z,1761577214.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 560.599976 m,
      deltaT: 4.535824 s,
      deltaX: -10.500000 m,
      approachRate: -2.314905 m/s,
      rangeRepo size: 4

2025-10-27T15:00:14.798Z,1761577214.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 558.910767 m,
      bearing: 75.083923 deg,
      lat: 36.779108 deg,
      lon: -121.859577 deg,
      deltaT: 4.535824 s,
      deltaX: -10.463989 m,
      approachRate: -2.306965 m/s,
      posRepo size: 4

2025-10-27T15:00:14.803Z,1761577214.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:14.806Z,1761577214.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 545.509766 m,
      bearing: 74.888762 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002978 deg/s,
      cmd heading: 77.292743 deg,
      new cmd heading: 77.296919 deg.

2025-10-27T15:00:14.806Z,1761577214.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349086 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:14.892Z,1761577214.892 [DAT](INFO): DAT read: user:841>

2025-10-27T15:00:14.893Z,1761577214.893 [DAT](INFO): DAT read: Tx time:15:00:13.9244

2025-10-27T15:00:14.893Z,1761577214.893 [DAT](INFO): Ping request sent.
2025-10-27T15:00:14.893Z,1761577214.893 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:14.893Z,1761577214.893 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:14.894Z,1761577214.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-27T15:00:15.119Z,1761577215.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214401,-0.965377,-0.148594],[0.975230,0.220048,-0.022468],[0.054388,-0.140096,0.988643]]
2025-10-27T15:00:15.146Z,1761577215.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252754
2025-10-27T15:00:15.200Z,1761577215.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:15.202Z,1761577215.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:15.209Z,1761577215.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 545.227905 m,
      bearing: 74.889937 deg,
      approach rate: -0.685468 m/s,
      LOS rate: 0.002860 deg/s,
      cmd heading: 77.296916 deg,
      new cmd heading: 77.300445 deg.

2025-10-27T15:00:15.210Z,1761577215.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349147 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:15.396Z,1761577215.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503139
2025-10-27T15:00:15.522Z,1761577215.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214923,-0.965024,-0.150122],[0.974874,0.221204,-0.026272],[0.058561,-0.140703,0.988318]]
2025-10-27T15:00:15.577Z,1761577215.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:15.581Z,1761577215.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 544.974304 m,
      bearing: 74.893453 deg,
      approach rate: -0.676466 m/s,
      LOS rate: 0.009382 deg/s,
      cmd heading: 77.300447 deg,
      new cmd heading: 77.310999 deg.

2025-10-27T15:00:15.582Z,1761577215.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349331 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:15.649Z,1761577215.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755737
2025-10-27T15:00:15.900Z,1761577215.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006626
2025-10-27T15:00:15.928Z,1761577215.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215871,-0.964600,-0.151480],[0.974436,0.222714,-0.029558],[0.062248,-0.141227,0.988018]]
2025-10-27T15:00:15.946Z,1761577215.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:15.949Z,1761577215.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 544.742798 m,
      bearing: 74.896690 deg,
      approach rate: -0.627239 m/s,
      LOS rate: 0.008776 deg/s,
      cmd heading: 77.311000 deg,
      new cmd heading: 77.320718 deg.

2025-10-27T15:00:15.950Z,1761577215.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349501 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:16.152Z,1761577216.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259241
2025-10-27T15:00:16.326Z,1761577216.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217095,-0.964050,-0.153225],[0.973938,0.224479,-0.032453],[0.065682,-0.142186,0.987658]]
2025-10-27T15:00:16.345Z,1761577216.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:16.348Z,1761577216.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 544.493286 m,
      bearing: 74.900219 deg,
      approach rate: -0.625835 m/s,
      LOS rate: 0.008856 deg/s,
      cmd heading: 77.320719 deg,
      new cmd heading: 77.331311 deg.

2025-10-27T15:00:16.349Z,1761577216.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349686 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:16.405Z,1761577216.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511598
2025-10-27T15:00:16.656Z,1761577216.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762585
2025-10-27T15:00:16.773Z,1761577216.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:16.776Z,1761577216.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 544.224670 m,
      bearing: 74.904023 deg,
      approach rate: -0.627117 m/s,
      LOS rate: 0.008883 deg/s,
      cmd heading: 77.331313 deg,
      new cmd heading: 77.342728 deg.

2025-10-27T15:00:16.777Z,1761577216.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349885 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:16.908Z,1761577216.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014670
2025-10-27T15:00:17.155Z,1761577217.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219993,-0.962952,-0.155969],[0.972794,0.228464,-0.038416],[0.072626,-0.143275,0.987015]]
2025-10-27T15:00:17.163Z,1761577217.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269089
2025-10-27T15:00:17.233Z,1761577217.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:17.235Z,1761577217.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:17.238Z,1761577217.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 543.949158 m,
      bearing: 74.908283 deg,
      approach rate: -0.596633 m/s,
      LOS rate: 0.009232 deg/s,
      cmd heading: 77.342726 deg,
      new cmd heading: 77.355515 deg.

2025-10-27T15:00:17.239Z,1761577217.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350108 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:17.412Z,1761577217.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518653
2025-10-27T15:00:17.548Z,1761577217.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221731,-0.962203,-0.158119],[0.972130,0.230792,-0.041220],[0.076155,-0.144572,0.986559]]
2025-10-27T15:00:17.574Z,1761577217.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:17.577Z,1761577217.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 543.746887 m,
      bearing: 74.911455 deg,
      approach rate: -0.597306 m/s,
      LOS rate: 0.009368 deg/s,
      cmd heading: 77.355512 deg,
      new cmd heading: 77.365029 deg.

2025-10-27T15:00:17.577Z,1761577217.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350274 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:17.665Z,1761577217.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771868
2025-10-27T15:00:17.916Z,1761577217.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022654
2025-10-27T15:00:17.982Z,1761577217.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:17.985Z,1761577217.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 543.507385 m,
      bearing: 74.915212 deg,
      approach rate: -0.586183 m/s,
      LOS rate: 0.009201 deg/s,
      cmd heading: 77.365027 deg,
      new cmd heading: 77.376304 deg.

2025-10-27T15:00:17.986Z,1761577217.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350471 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:18.168Z,1761577218.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274644
2025-10-27T15:00:18.347Z,1761577218.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225637,-0.960571,-0.162457],[0.970713,0.235798,-0.045994],[0.082488,-0.147321,0.985643]]
2025-10-27T15:00:18.366Z,1761577218.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:18.368Z,1761577218.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 543.274963 m,
      bearing: 74.918964 deg,
      approach rate: -0.606442 m/s,
      LOS rate: 0.009794 deg/s,
      cmd heading: 77.376303 deg,
      new cmd heading: 77.387565 deg.

2025-10-27T15:00:18.369Z,1761577218.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350668 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:18.421Z,1761577218.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527632
2025-10-27T15:00:18.672Z,1761577218.672 [DAT](INFO): DAT read: Rx Time:15:00:17.0728

2025-10-27T15:00:18.672Z,1761577218.672 [DAT](INFO): Rx dataTimestamp_ set to:1761577218.672146
2025-10-27T15:00:18.673Z,1761577218.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779765
2025-10-27T15:00:18.791Z,1761577218.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.91 m.
2025-10-27T15:00:18.794Z,1761577218.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.910767 m,
      nav range: 543.021790 m,
      bearing: 74.923056 deg,
      approach rate: -0.595394 m/s,
      LOS rate: 0.009626 deg/s,
      cmd heading: 77.387566 deg,
      new cmd heading: 77.399846 deg.

2025-10-27T15:00:18.795Z,1761577218.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350882 target range: 558.910767 and range: 560.60 m.
2025-10-27T15:00:18.927Z,1761577218.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033244
2025-10-27T15:00:19.201Z,1761577219.201 [DAT](INFO): DAT read: 15:00:17.0728 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.30,-1.218,-2.651,-0.935,-1.346, PHS= 0.230,-1.260, 0.366, RAW= 154.3,   8.6, CAL= 153.9,   9.1, ROT= 356.1,  -9.1

2025-10-27T15:00:19.202Z,1761577219.202 [DAT](INFO): got valid direction response:
 15:00:17.0728 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.30,-1.218,-2.651,-0.935,-1.346, PHS= 0.230,-1.260, 0.366, RAW= 154.3,   8.6, CAL= 153.9,   9.1, ROT= 356.1,  -9.1

2025-10-27T15:00:19.204Z,1761577219.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229127,-0.958852,-0.167640],[0.969371,0.240417,-0.050200],[0.088438,-0.151003,0.984569]]
2025-10-27T15:00:19.207Z,1761577219.207 [DAT](INFO): DAT read: Bearing 255.8,  -0.5 (Local)

2025-10-27T15:00:19.208Z,1761577219.208 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.8,  -0.5 (Local)

2025-10-27T15:00:19.209Z,1761577219.209 [DAT](INFO): DAT read: Range 11 to 50 : 558.2 m  (Round-trip  744.3 ms) speed  0.3 m/s

2025-10-27T15:00:19.210Z,1761577219.210 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:19.215Z,1761577219.215 [DAT](INFO): direction in FSK: [0.985127,-0.067159,0.158158]
2025-10-27T15:00:19.215Z,1761577219.215 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:19.218Z,1761577219.218 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:19.219Z,1761577219.219 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:19.223Z,1761577219.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:19.298Z,1761577219.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 558.200012 m,
      deltaT: 4.537813 s,
      deltaX: -2.399963 m,
      approachRate: -0.528881 m/s,
      rangeRepo size: 4

2025-10-27T15:00:19.308Z,1761577219.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 556.538513 m,
      bearing: 74.189058 deg,
      lat: 36.779158 deg,
      lon: -121.859577 deg,
      deltaT: 4.537813 s,
      deltaX: -2.372253 m,
      approachRate: -0.522775 m/s,
      posRepo size: 4

2025-10-27T15:00:19.309Z,1761577219.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:19.312Z,1761577219.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 544.204163 m,
      bearing: 74.359228 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009626 deg/s,
      cmd heading: 77.399847 deg,
      new cmd heading: 77.414471 deg.

2025-10-27T15:00:19.313Z,1761577219.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351137 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:19.429Z,1761577219.429 [DAT](INFO): DAT read: user:842>

2025-10-27T15:00:19.430Z,1761577219.430 [DAT](INFO): DAT read: Tx time:15:00:18.4744

2025-10-27T15:00:19.430Z,1761577219.430 [DAT](INFO): Ping request sent.
2025-10-27T15:00:19.430Z,1761577219.430 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:19.431Z,1761577219.431 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:19.432Z,1761577219.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001508
2025-10-27T15:00:19.647Z,1761577219.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230277,-0.958366,-0.168841],[0.968839,0.242052,-0.052552],[0.091232,-0.151478,0.984241]]
2025-10-27T15:00:19.673Z,1761577219.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:19.676Z,1761577219.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:19.678Z,1761577219.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 543.935852 m,
      bearing: 74.360948 deg,
      approach rate: -0.708815 m/s,
      LOS rate: 0.004547 deg/s,
      cmd heading: 77.414471 deg,
      new cmd heading: 77.419634 deg.

2025-10-27T15:00:19.680Z,1761577219.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249856
2025-10-27T15:00:19.681Z,1761577219.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351228 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:19.932Z,1761577219.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501723
2025-10-27T15:00:20.061Z,1761577220.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231137,-0.957992,-0.169787],[0.968376,0.243376,-0.054922],[0.093937,-0.151723,0.983949]]
2025-10-27T15:00:20.080Z,1761577220.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:20.082Z,1761577220.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 543.679077 m,
      bearing: 74.362622 deg,
      approach rate: -0.635597 m/s,
      LOS rate: 0.004147 deg/s,
      cmd heading: 77.419634 deg,
      new cmd heading: 77.424660 deg.

2025-10-27T15:00:20.084Z,1761577220.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351315 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:20.184Z,1761577220.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753934
2025-10-27T15:00:20.436Z,1761577220.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005707
2025-10-27T15:00:20.454Z,1761577220.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231362,-0.958084,-0.168958],[0.968063,0.243959,-0.057770],[0.096567,-0.150196,0.983929]]
2025-10-27T15:00:20.472Z,1761577220.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:20.491Z,1761577220.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 543.430603 m,
      bearing: 74.364259 deg,
      approach rate: -0.632839 m/s,
      LOS rate: 0.004171 deg/s,
      cmd heading: 77.424661 deg,
      new cmd heading: 77.429574 deg.

2025-10-27T15:00:20.492Z,1761577220.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351401 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:20.688Z,1761577220.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257678
2025-10-27T15:00:20.857Z,1761577220.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231436,-0.958126,-0.168617],[0.967780,0.244417,-0.060510],[0.099189,-0.149180,0.983823]]
2025-10-27T15:00:20.876Z,1761577220.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:20.879Z,1761577220.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 543.175049 m,
      bearing: 74.365954 deg,
      approach rate: -0.632482 m/s,
      LOS rate: 0.004197 deg/s,
      cmd heading: 77.429572 deg,
      new cmd heading: 77.434659 deg.

2025-10-27T15:00:20.880Z,1761577220.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351490 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:20.941Z,1761577220.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510663
2025-10-27T15:00:21.193Z,1761577221.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762789
2025-10-27T15:00:21.261Z,1761577221.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231383,-0.957948,-0.169700],[0.967535,0.244818,-0.062771],[0.101677,-0.149666,0.983495]]
2025-10-27T15:00:21.304Z,1761577221.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:21.307Z,1761577221.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 542.867065 m,
      bearing: 74.365680 deg,
      approach rate: -0.719904 m/s,
      LOS rate: -0.000642 deg/s,
      cmd heading: 77.434661 deg,
      new cmd heading: 77.433837 deg.

2025-10-27T15:00:21.308Z,1761577221.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351475 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:21.444Z,1761577221.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014066
2025-10-27T15:00:21.666Z,1761577221.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231118,-0.957986,-0.169846],[0.967347,0.244932,-0.065181],[0.104043,-0.149236,0.983313]]
2025-10-27T15:00:21.696Z,1761577221.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265872
2025-10-27T15:00:21.696Z,1761577221.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:21.699Z,1761577221.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:21.705Z,1761577221.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 542.592712 m,
      bearing: 74.365430 deg,
      approach rate: -0.695650 m/s,
      LOS rate: -0.000632 deg/s,
      cmd heading: 77.433834 deg,
      new cmd heading: 77.433086 deg.

2025-10-27T15:00:21.706Z,1761577221.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351462 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:21.948Z,1761577221.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517664
2025-10-27T15:00:22.116Z,1761577222.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:22.118Z,1761577222.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 542.291443 m,
      bearing: 74.365157 deg,
      approach rate: -0.723345 m/s,
      LOS rate: -0.000658 deg/s,
      cmd heading: 77.433083 deg,
      new cmd heading: 77.432260 deg.

2025-10-27T15:00:22.120Z,1761577222.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351448 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:22.200Z,1761577222.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770165
2025-10-27T15:00:22.452Z,1761577222.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021792
2025-10-27T15:00:22.479Z,1761577222.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229122,-0.958908,-0.167330],[0.967306,0.243500,-0.070895],[0.108727,-0.145615,0.983349]]
2025-10-27T15:00:22.498Z,1761577222.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:22.501Z,1761577222.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 542.007446 m,
      bearing: 74.364852 deg,
      approach rate: -0.742034 m/s,
      LOS rate: -0.000795 deg/s,
      cmd heading: 77.432263 deg,
      new cmd heading: 77.431350 deg.

2025-10-27T15:00:22.502Z,1761577222.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351432 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:22.705Z,1761577222.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274599
2025-10-27T15:00:22.877Z,1761577222.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227215,-0.959374,-0.167257],[0.967559,0.241876,-0.072976],[0.110466,-0.145250,0.983209]]
2025-10-27T15:00:22.896Z,1761577222.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:22.900Z,1761577222.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 541.720825 m,
      bearing: 74.364488 deg,
      approach rate: -0.718970 m/s,
      LOS rate: -0.000914 deg/s,
      cmd heading: 77.431348 deg,
      new cmd heading: 77.430255 deg.

2025-10-27T15:00:22.901Z,1761577222.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351413 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:22.957Z,1761577222.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526606
2025-10-27T15:00:23.208Z,1761577223.208 [DAT](INFO): DAT read: Rx Time:15:00:21.6255

2025-10-27T15:00:23.208Z,1761577223.208 [DAT](INFO): Rx dataTimestamp_ set to:1761577223.208187
2025-10-27T15:00:23.209Z,1761577223.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778878
2025-10-27T15:00:23.331Z,1761577223.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:23.334Z,1761577223.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 541.388123 m,
      bearing: 74.363517 deg,
      approach rate: -0.766065 m/s,
      LOS rate: -0.002238 deg/s,
      cmd heading: 77.430255 deg,
      new cmd heading: 77.427340 deg.

2025-10-27T15:00:23.335Z,1761577223.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351362 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:23.460Z,1761577223.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030145
2025-10-27T15:00:23.686Z,1761577223.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222969,-0.960699,-0.165353],[0.968099,0.238113,-0.078010],[0.114317,-0.142684,0.983144]]
2025-10-27T15:00:23.710Z,1761577223.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:23.718Z,1761577223.718 [DAT](INFO): DAT read: 15:00:21.6255 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 461,-0.10,-3.020, 1.744,-2.870, 2.968, PHS= 0.397,-1.179, 0.401, RAW= 150.1,   4.9, CAL= 149.4,   5.0, ROT=   0.6,  -5.0

2025-10-27T15:00:23.720Z,1761577223.720 [DAT](INFO): got valid direction response:
 15:00:21.6255 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 461,-0.10,-3.020, 1.744,-2.870, 2.968, PHS= 0.397,-1.179, 0.401, RAW= 150.1,   4.9, CAL= 149.4,   5.0, ROT=   0.6,  -5.0

2025-10-27T15:00:23.721Z,1761577223.721 [DAT](INFO): DAT read: Bearing 251.8,   6.3 (Local)

2025-10-27T15:00:23.721Z,1761577223.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.8,   6.3 (Local)

2025-10-27T15:00:23.723Z,1761577223.723 [DAT](INFO): DAT read: Range 11 to 50 : 560.2 m  (Round-trip  747.0 ms) speed  0.8 m/s

2025-10-27T15:00:23.724Z,1761577223.724 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:23.726Z,1761577223.726 [DAT](INFO): direction in FSK: [0.996140,0.010432,0.087156]
2025-10-27T15:00:23.726Z,1761577223.726 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:23.730Z,1761577223.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-27T15:00:23.745Z,1761577223.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.538513 m,
      nav range: 541.096191 m,
      bearing: 74.362534 deg,
      approach rate: -0.732547 m/s,
      LOS rate: -0.002468 deg/s,
      cmd heading: 77.427339 deg,
      new cmd heading: 77.424388 deg.

2025-10-27T15:00:23.756Z,1761577223.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351310 target range: 556.538513 and range: 558.20 m.
2025-10-27T15:00:23.787Z,1761577223.787 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:23.787Z,1761577223.787 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:23.787Z,1761577223.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:23.964Z,1761577223.964 [DAT](INFO): DAT read: user:843>

2025-10-27T15:00:23.965Z,1761577223.965 [DAT](INFO): DAT read: Tx time:15:00:23.0744

2025-10-27T15:00:23.965Z,1761577223.965 [DAT](INFO): Ping request sent.
2025-10-27T15:00:23.965Z,1761577223.965 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:23.965Z,1761577223.965 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:23.966Z,1761577223.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-27T15:00:24.099Z,1761577224.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220964,-0.961208,-0.165087],[0.968313,0.236418,-0.080471],[0.116379,-0.142075,0.982991]]
2025-10-27T15:00:24.144Z,1761577224.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 560.200012 m,
      deltaT: 4.534309 s,
      deltaX: 2.000000 m,
      approachRate: 0.441082 m/s,
      rangeRepo size: 4

2025-10-27T15:00:24.146Z,1761577224.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 558.454773 m,
      bearing: 78.478465 deg,
      lat: 36.779081 deg,
      lon: -121.859577 deg,
      deltaT: 4.534309 s,
      deltaX: 1.916260 m,
      approachRate: 0.422613 m/s,
      posRepo size: 4

2025-10-27T15:00:24.146Z,1761577224.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.45 m.
2025-10-27T15:00:24.153Z,1761577224.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.454773 m,
      nav range: 538.524841 m,
      bearing: 75.245267 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002468 deg/s,
      cmd heading: 77.424388 deg,
      new cmd heading: 77.421388 deg.

2025-10-27T15:00:24.154Z,1761577224.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351258 target range: 558.454773 and range: 560.20 m.
2025-10-27T15:00:24.216Z,1761577224.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250823
2025-10-27T15:00:24.469Z,1761577224.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503716
2025-10-27T15:00:24.522Z,1761577224.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218878,-0.961734,-0.164806],[0.968533,0.234646,-0.082983],[0.118478,-0.141457,0.982829]]
2025-10-27T15:00:24.560Z,1761577224.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.45 m.
2025-10-27T15:00:24.564Z,1761577224.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.454773 m,
      nav range: 538.186462 m,
      bearing: 75.244530 deg,
      approach rate: -0.794787 m/s,
      LOS rate: -0.001732 deg/s,
      cmd heading: 77.421390 deg,
      new cmd heading: 77.419177 deg.

2025-10-27T15:00:24.565Z,1761577224.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351220 target range: 558.454773 and range: 560.20 m.
2025-10-27T15:00:24.721Z,1761577224.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755865
2025-10-27T15:00:24.956Z,1761577224.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.45 m.
2025-10-27T15:00:24.958Z,1761577224.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.454773 m,
      nav range: 537.883606 m,
      bearing: 75.243870 deg,
      approach rate: -0.765566 m/s,
      LOS rate: -0.001670 deg/s,
      cmd heading: 77.419177 deg,
      new cmd heading: 77.417194 deg.

2025-10-27T15:00:24.984Z,1761577224.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018484
2025-10-27T15:00:24.988Z,1761577224.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351185 target range: 558.454773 and range: 560.20 m.
2025-10-27T15:00:25.237Z,1761577225.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.272419
2025-10-27T15:00:25.365Z,1761577225.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213439,-0.962984,-0.164637],[0.968996,0.230141,-0.089901],[0.124463,-0.140345,0.982249]]
2025-10-27T15:00:25.446Z,1761577225.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.45 m.
2025-10-27T15:00:25.457Z,1761577225.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.454773 m,
      nav range: 537.511536 m,
      bearing: 75.244571 deg,
      approach rate: -0.758443 m/s,
      LOS rate: 0.001430 deg/s,
      cmd heading: 77.417196 deg,
      new cmd heading: 77.419301 deg.

2025-10-27T15:00:25.458Z,1761577225.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351222 target range: 558.454773 and range: 560.20 m.
2025-10-27T15:00:25.488Z,1761577225.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522978
2025-10-27T15:00:25.745Z,1761577225.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778982
2025-10-27T15:00:25.792Z,1761577225.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212112,-0.962828,-0.167247],[0.969060,0.229337,-0.091257],[0.126221,-0.142716,0.981683]]
2025-10-27T15:00:25.828Z,1761577225.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:25.830Z,1761577225.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.45 m.
2025-10-27T15:00:25.833Z,1761577225.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.454773 m,
      nav range: 537.220703 m,
      bearing: 75.245081 deg,
      approach rate: -0.758219 m/s,
      LOS rate: 0.001329 deg/s,
      cmd heading: 77.419299 deg,
      new cmd heading: 77.420829 deg.

2025-10-27T15:00:25.834Z,1761577225.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351248 target range: 558.454773 and range: 560.20 m.
2025-10-27T15:00:25.992Z,1761577225.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026872
2025-10-27T15:00:26.190Z,1761577226.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211673,-0.962356,-0.170483],[0.968972,0.229421,-0.091970],[0.127620,-0.145726,0.981059]]
2025-10-27T15:00:26.210Z,1761577226.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.45 m.
2025-10-27T15:00:26.213Z,1761577226.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.454773 m,
      nav range: 536.932861 m,
      bearing: 75.245575 deg,
      approach rate: -0.758273 m/s,
      LOS rate: 0.001302 deg/s,
      cmd heading: 77.420829 deg,
      new cmd heading: 77.422312 deg.

2025-10-27T15:00:26.213Z,1761577226.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351274 target range: 558.454773 and range: 560.20 m.
2025-10-27T15:00:26.245Z,1761577226.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279449
2025-10-27T15:00:26.498Z,1761577226.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533140
2025-10-27T15:00:26.593Z,1761577226.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211138,-0.961976,-0.173274],[0.968896,0.229384,-0.092863],[0.129078,-0.148277,0.980486]]
2025-10-27T15:00:26.629Z,1761577226.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.45 m.
2025-10-27T15:00:26.631Z,1761577226.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.454773 m,
      nav range: 536.614685 m,
      bearing: 75.246106 deg,
      approach rate: -0.759416 m/s,
      LOS rate: 0.001269 deg/s,
      cmd heading: 77.422312 deg,
      new cmd heading: 77.423906 deg.

2025-10-27T15:00:26.632Z,1761577226.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351302 target range: 558.454773 and range: 560.20 m.
2025-10-27T15:00:26.749Z,1761577226.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783642
2025-10-27T15:00:27.002Z,1761577227.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036378
2025-10-27T15:00:27.005Z,1761577227.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210938,-0.961482,-0.176234],[0.968781,0.229656,-0.093386],[0.130262,-0.151034,0.979908]]
2025-10-27T15:00:27.053Z,1761577227.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.45 m.
2025-10-27T15:00:27.068Z,1761577227.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.454773 m,
      nav range: 536.298035 m,
      bearing: 75.246631 deg,
      approach rate: -0.745951 m/s,
      LOS rate: 0.001238 deg/s,
      cmd heading: 77.423903 deg,
      new cmd heading: 77.425480 deg.

2025-10-27T15:00:27.069Z,1761577227.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351330 target range: 558.454773 and range: 560.20 m.
2025-10-27T15:00:27.252Z,1761577227.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286767
2025-10-27T15:00:27.404Z,1761577227.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210906,-0.961115,-0.178257],[0.968644,0.229989,-0.093983],[0.131326,-0.152846,0.979485]]
2025-10-27T15:00:27.442Z,1761577227.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.45 m.
2025-10-27T15:00:27.461Z,1761577227.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.454773 m,
      nav range: 536.028564 m,
      bearing: 75.249212 deg,
      approach rate: -0.693339 m/s,
      LOS rate: 0.006645 deg/s,
      cmd heading: 77.425481 deg,
      new cmd heading: 77.433229 deg.

2025-10-27T15:00:27.462Z,1761577227.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351465 target range: 558.454773 and range: 560.20 m.
2025-10-27T15:00:27.505Z,1761577227.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540409
2025-10-27T15:00:27.756Z,1761577227.756 [DAT](INFO): DAT read: Rx Time:15:00:26.2134

2025-10-27T15:00:27.757Z,1761577227.757 [DAT](INFO): Rx dataTimestamp_ set to:1761577227.756323
2025-10-27T15:00:27.757Z,1761577227.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792135
2025-10-27T15:00:27.825Z,1761577227.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211121,-0.960906,-0.179128],[0.968450,0.230457,-0.094838],[0.132411,-0.153454,0.979244]]
2025-10-27T15:00:27.918Z,1761577227.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:27.920Z,1761577227.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.45 m.
2025-10-27T15:00:27.923Z,1761577227.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.454773 m,
      nav range: 535.711304 m,
      bearing: 75.252265 deg,
      approach rate: -0.662906 m/s,
      LOS rate: 0.006382 deg/s,
      cmd heading: 77.433226 deg,
      new cmd heading: 77.442389 deg.

2025-10-27T15:00:27.924Z,1761577227.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351625 target range: 558.454773 and range: 560.20 m.
2025-10-27T15:00:28.009Z,1761577228.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.044315
2025-10-27T15:00:28.217Z,1761577228.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211521,-0.960523,-0.180702],[0.968234,0.231156,-0.095340],[0.133347,-0.154796,0.978906]]
2025-10-27T15:00:28.266Z,1761577228.266 [DAT](INFO): DAT read: 15:00:26.2134 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 322,-0.17, 2.171, 0.685, 2.448, 2.014, PHS= 0.260,-1.284, 0.391, RAW= 154.0,   7.9, CAL= 153.5,   8.3, ROT= 356.5,  -8.3

2025-10-27T15:00:28.267Z,1761577228.267 [DAT](INFO): got valid direction response:
 15:00:26.2134 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 322,-0.17, 2.171, 0.685, 2.448, 2.014, PHS= 0.260,-1.284, 0.391, RAW= 154.0,   7.9, CAL= 153.5,   8.3, ROT= 356.5,  -8.3

2025-10-27T15:00:28.268Z,1761577228.268 [DAT](INFO): DAT read: Bearing 255.2,   2.4 (Local)

2025-10-27T15:00:28.268Z,1761577228.268 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.2,   2.4 (Local)

2025-10-27T15:00:28.270Z,1761577228.270 [DAT](INFO): DAT read: Range 11 to 50 : 551.1 m  (Round-trip  734.9 ms) speed  0.4 m/s

2025-10-27T15:00:28.270Z,1761577228.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:28.271Z,1761577228.271 [DAT](INFO): direction in FSK: [0.987680,-0.060409,0.144356]
2025-10-27T15:00:28.272Z,1761577228.272 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:28.275Z,1761577228.275 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:28.275Z,1761577228.275 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:28.276Z,1761577228.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:28.309Z,1761577228.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 551.099976 m,
      deltaT: 4.548262 s,
      deltaX: -9.100037 m,
      approachRate: -2.000772 m/s,
      rangeRepo size: 4

2025-10-27T15:00:28.319Z,1761577228.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 549.374756 m,
      bearing: 75.459089 deg,
      lat: 36.779045 deg,
      lon: -121.859626 deg,
      deltaT: 4.548262 s,
      deltaX: -9.080017 m,
      approachRate: -1.996371 m/s,
      posRepo size: 4

2025-10-27T15:00:28.320Z,1761577228.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:28.322Z,1761577228.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 530.262268 m,
      bearing: 75.548245 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006382 deg/s,
      cmd heading: 77.442392 deg,
      new cmd heading: 77.449815 deg.

2025-10-27T15:00:28.329Z,1761577228.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351754 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:28.514Z,1761577228.514 [DAT](INFO): DAT read: user:844>

2025-10-27T15:00:28.515Z,1761577228.515 [DAT](INFO): DAT read: Tx time:15:00:27.5244

2025-10-27T15:00:28.516Z,1761577228.516 [DAT](INFO): Ping request sent.
2025-10-27T15:00:28.516Z,1761577228.516 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:28.516Z,1761577228.516 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:28.517Z,1761577228.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001388
2025-10-27T15:00:28.699Z,1761577228.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:28.702Z,1761577228.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 529.981873 m,
      bearing: 75.551146 deg,
      approach rate: -0.717520 m/s,
      LOS rate: 0.007427 deg/s,
      cmd heading: 77.449817 deg,
      new cmd heading: 77.458523 deg.

2025-10-27T15:00:28.703Z,1761577228.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351906 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:28.764Z,1761577228.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248180
2025-10-27T15:00:29.017Z,1761577229.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500682
2025-10-27T15:00:29.103Z,1761577229.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:29.106Z,1761577229.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 529.706665 m,
      bearing: 75.553996 deg,
      approach rate: -0.680861 m/s,
      LOS rate: 0.007055 deg/s,
      cmd heading: 77.458525 deg,
      new cmd heading: 77.467081 deg.

2025-10-27T15:00:29.107Z,1761577229.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352056 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:29.268Z,1761577229.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752030
2025-10-27T15:00:29.456Z,1761577229.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212811,-0.959657,-0.183765],[0.967547,0.233197,-0.097321],[0.136248,-0.157090,0.978141]]
2025-10-27T15:00:29.521Z,1761577229.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005001
2025-10-27T15:00:29.534Z,1761577229.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:29.537Z,1761577229.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 529.435730 m,
      bearing: 75.558064 deg,
      approach rate: -0.627932 m/s,
      LOS rate: 0.009433 deg/s,
      cmd heading: 77.467083 deg,
      new cmd heading: 77.479294 deg.

2025-10-27T15:00:29.538Z,1761577229.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352269 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:29.773Z,1761577229.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256648
2025-10-27T15:00:29.871Z,1761577229.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213379,-0.959385,-0.184528],[0.967315,0.233956,-0.097810],[0.137009,-0.157626,0.977948]]
2025-10-27T15:00:29.890Z,1761577229.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:29.893Z,1761577229.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 529.212646 m,
      bearing: 75.561433 deg,
      approach rate: -0.627900 m/s,
      LOS rate: 0.009486 deg/s,
      cmd heading: 77.479296 deg,
      new cmd heading: 77.489407 deg.

2025-10-27T15:00:29.894Z,1761577229.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352445 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:30.024Z,1761577230.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508144
2025-10-27T15:00:30.269Z,1761577230.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213667,-0.959337,-0.184440],[0.967139,0.234358,-0.098581],[0.137797,-0.157315,0.977887]]
2025-10-27T15:00:30.276Z,1761577230.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760175
2025-10-27T15:00:30.288Z,1761577230.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:30.290Z,1761577230.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:30.310Z,1761577230.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 528.961548 m,
      bearing: 75.565238 deg,
      approach rate: -0.627193 m/s,
      LOS rate: 0.009509 deg/s,
      cmd heading: 77.489405 deg,
      new cmd heading: 77.500825 deg.

2025-10-27T15:00:30.311Z,1761577230.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352645 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:30.528Z,1761577230.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011980
2025-10-27T15:00:30.761Z,1761577230.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213885,-0.959131,-0.185260],[0.966971,0.234793,-0.099191],[0.138634,-0.157925,0.977671]]
2025-10-27T15:00:30.780Z,1761577230.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264211
2025-10-27T15:00:30.781Z,1761577230.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:30.784Z,1761577230.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 528.654419 m,
      bearing: 75.569906 deg,
      approach rate: -0.628168 m/s,
      LOS rate: 0.009553 deg/s,
      cmd heading: 77.500825 deg,
      new cmd heading: 77.514836 deg.

2025-10-27T15:00:30.785Z,1761577230.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352889 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:31.032Z,1761577231.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515965
2025-10-27T15:00:31.199Z,1761577231.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213963,-0.959263,-0.184483],[0.966835,0.234924,-0.100208],[0.139465,-0.156924,0.977714]]
2025-10-27T15:00:31.255Z,1761577231.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:31.258Z,1761577231.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 528.380493 m,
      bearing: 75.574228 deg,
      approach rate: -0.580169 m/s,
      LOS rate: 0.009159 deg/s,
      cmd heading: 77.514833 deg,
      new cmd heading: 77.527807 deg.

2025-10-27T15:00:31.263Z,1761577231.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353115 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:31.284Z,1761577231.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768132
2025-10-27T15:00:31.536Z,1761577231.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020073
2025-10-27T15:00:31.638Z,1761577231.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213461,-0.959492,-0.183874],[0.966757,0.234578,-0.101759],[0.140769,-0.156040,0.977668]]
2025-10-27T15:00:31.658Z,1761577231.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:31.661Z,1761577231.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 528.126892 m,
      bearing: 75.578225 deg,
      approach rate: -0.623871 m/s,
      LOS rate: 0.009836 deg/s,
      cmd heading: 77.527804 deg,
      new cmd heading: 77.539799 deg.

2025-10-27T15:00:31.662Z,1761577231.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353325 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:31.788Z,1761577231.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272070
2025-10-27T15:00:32.040Z,1761577232.040 [DAT](INFO): DAT read: Rx Time:15:00:30.6602

2025-10-27T15:00:32.041Z,1761577232.041 [DAT](INFO): Rx dataTimestamp_ set to:1761577232.040239
2025-10-27T15:00:32.041Z,1761577232.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525217
2025-10-27T15:00:32.041Z,1761577232.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213310,-0.959501,-0.184001],[0.966602,0.234650,-0.103048],[0.142051,-0.155875,0.977509]]
2025-10-27T15:00:32.061Z,1761577232.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:32.064Z,1761577232.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 527.884766 m,
      bearing: 75.582041 deg,
      approach rate: -0.600439 m/s,
      LOS rate: 0.009468 deg/s,
      cmd heading: 77.539798 deg,
      new cmd heading: 77.551252 deg.

2025-10-27T15:00:32.065Z,1761577232.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353525 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:32.292Z,1761577232.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776078
2025-10-27T15:00:32.441Z,1761577232.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212561,-0.959650,-0.184094],[0.966512,0.234204,-0.104895],[0.143778,-0.155632,0.977295]]
2025-10-27T15:00:32.469Z,1761577232.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:32.471Z,1761577232.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.37 m.
2025-10-27T15:00:32.474Z,1761577232.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.374756 m,
      nav range: 527.638672 m,
      bearing: 75.585907 deg,
      approach rate: -0.599379 m/s,
      LOS rate: 0.009420 deg/s,
      cmd heading: 77.551252 deg,
      new cmd heading: 77.562855 deg.

2025-10-27T15:00:32.475Z,1761577232.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353727 target range: 549.374756 and range: 551.10 m.
2025-10-27T15:00:32.547Z,1761577232.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030497
2025-10-27T15:00:32.801Z,1761577232.801 [DAT](INFO): DAT read: 15:00:30.6602 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 401,-0.03, 1.485,-0.016, 1.749, 1.303, PHS= 0.284,-1.274, 0.403, RAW= 153.6,   7.3, CAL= 153.1,   7.6, ROT= 356.9,  -7.6

2025-10-27T15:00:32.802Z,1761577232.802 [DAT](INFO): got valid direction response:
 15:00:30.6602 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 401,-0.03, 1.485,-0.016, 1.749, 1.303, PHS= 0.284,-1.274, 0.403, RAW= 153.6,   7.3, CAL= 153.1,   7.6, ROT= 356.9,  -7.6

2025-10-27T15:00:32.808Z,1761577232.808 [DAT](INFO): DAT read: Bearing 252.7,   4.0 (Local)

2025-10-27T15:00:32.808Z,1761577232.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.7,   4.0 (Local)

2025-10-27T15:00:32.810Z,1761577232.810 [DAT](INFO): DAT read: Range 11 to 50 : 548.7 m  (Round-trip  731.7 ms) speed  0.7 m/s

2025-10-27T15:00:32.810Z,1761577232.810 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:32.811Z,1761577232.811 [DAT](INFO): direction in FSK: [0.989765,-0.053604,0.132256]
2025-10-27T15:00:32.812Z,1761577232.812 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:32.815Z,1761577232.815 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:32.815Z,1761577232.815 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:32.815Z,1761577232.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:32.885Z,1761577232.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211694,-0.959866,-0.183963],[0.966408,0.233654,-0.107056],[0.145744,-0.155120,0.977086]]
2025-10-27T15:00:32.945Z,1761577232.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 548.700012 m,
      deltaT: 4.535605 s,
      deltaX: -2.399963 m,
      approachRate: -0.529139 m/s,
      rangeRepo size: 4

2025-10-27T15:00:32.953Z,1761577232.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 546.977417 m,
      bearing: 75.720963 deg,
      lat: 36.779045 deg,
      lon: -121.859644 deg,
      deltaT: 4.535605 s,
      deltaX: -2.397339 m,
      approachRate: -0.528560 m/s,
      posRepo size: 4

2025-10-27T15:00:32.956Z,1761577232.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:32.958Z,1761577232.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 525.756653 m,
      bearing: 75.545067 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009420 deg/s,
      cmd heading: 77.562856 deg,
      new cmd heading: 77.576220 deg.

2025-10-27T15:00:32.960Z,1761577232.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353961 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:33.067Z,1761577233.067 [DAT](INFO): DAT read: user:845>

2025-10-27T15:00:33.068Z,1761577233.068 [DAT](INFO): DAT read: Tx time:15:00:32.0744

2025-10-27T15:00:33.068Z,1761577233.068 [DAT](INFO): Ping request sent.
2025-10-27T15:00:33.068Z,1761577233.068 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:33.068Z,1761577233.068 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:33.069Z,1761577233.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-10-27T15:00:33.293Z,1761577233.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210462,-0.960204,-0.183613],[0.966332,0.232770,-0.109635],[0.148012,-0.154357,0.976866]]
2025-10-27T15:00:33.300Z,1761577233.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.231655
2025-10-27T15:00:33.369Z,1761577233.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:33.376Z,1761577233.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 525.500061 m,
      bearing: 75.547930 deg,
      approach rate: -0.604052 m/s,
      LOS rate: 0.006744 deg/s,
      cmd heading: 77.576223 deg,
      new cmd heading: 77.584817 deg.

2025-10-27T15:00:33.377Z,1761577233.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354110 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:33.552Z,1761577233.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.483864
2025-10-27T15:00:33.706Z,1761577233.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209117,-0.960445,-0.183891],[0.966257,0.231863,-0.112194],[0.150393,-0.154224,0.976523]]
2025-10-27T15:00:33.729Z,1761577233.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:33.733Z,1761577233.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 525.257507 m,
      bearing: 75.550607 deg,
      approach rate: -0.675163 m/s,
      LOS rate: 0.007454 deg/s,
      cmd heading: 77.584815 deg,
      new cmd heading: 77.592849 deg.

2025-10-27T15:00:33.734Z,1761577233.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354251 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:33.805Z,1761577233.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.737028
2025-10-27T15:00:34.059Z,1761577234.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989965
2025-10-27T15:00:34.106Z,1761577234.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207937,-0.960686,-0.183971],[0.966142,0.231092,-0.114745],[0.152748,-0.153882,0.976211]]
2025-10-27T15:00:34.171Z,1761577234.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:34.174Z,1761577234.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 524.970825 m,
      bearing: 75.552521 deg,
      approach rate: -0.647825 m/s,
      LOS rate: 0.004329 deg/s,
      cmd heading: 77.592848 deg,
      new cmd heading: 77.598595 deg.

2025-10-27T15:00:34.175Z,1761577234.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354351 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:34.248Z,1761577234.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:00:34.308Z,1761577234.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240179
2025-10-27T15:00:34.520Z,1761577234.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206626,-0.960843,-0.184624],[0.966019,0.230290,-0.117364],[0.155286,-0.154100,0.975776]]
2025-10-27T15:00:34.537Z,1761577234.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:34.539Z,1761577234.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:34.542Z,1761577234.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 524.734863 m,
      bearing: 75.554068 deg,
      approach rate: -0.640919 m/s,
      LOS rate: 0.004202 deg/s,
      cmd heading: 77.598592 deg,
      new cmd heading: 77.603233 deg.

2025-10-27T15:00:34.543Z,1761577234.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354432 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:34.560Z,1761577234.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492018
2025-10-27T15:00:34.816Z,1761577234.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747610
2025-10-27T15:00:34.914Z,1761577234.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205227,-0.961226,-0.184190],[0.965924,0.229252,-0.120145],[0.157713,-0.153257,0.975520]]
2025-10-27T15:00:34.943Z,1761577234.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:34.946Z,1761577234.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 524.475769 m,
      bearing: 75.555733 deg,
      approach rate: -0.641713 m/s,
      LOS rate: 0.004126 deg/s,
      cmd heading: 77.603230 deg,
      new cmd heading: 77.608227 deg.

2025-10-27T15:00:34.947Z,1761577234.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354519 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:35.067Z,1761577235.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998223
2025-10-27T15:00:35.251Z,1761577235.251 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:00:35.316Z,1761577235.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247800
2025-10-27T15:00:35.320Z,1761577235.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204003,-0.961458,-0.184340],[0.965841,0.228402,-0.122409],[0.159794,-0.153071,0.975210]]
2025-10-27T15:00:35.373Z,1761577235.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:35.376Z,1761577235.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 524.184631 m,
      bearing: 75.556593 deg,
      approach rate: -0.677301 m/s,
      LOS rate: 0.002002 deg/s,
      cmd heading: 77.608229 deg,
      new cmd heading: 77.610811 deg.

2025-10-27T15:00:35.377Z,1761577235.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354564 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:35.568Z,1761577235.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499745
2025-10-27T15:00:35.724Z,1761577235.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202381,-0.961585,-0.185463],[0.965760,0.227361,-0.124960],[0.162327,-0.153824,0.974673]]
2025-10-27T15:00:35.772Z,1761577235.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:35.774Z,1761577235.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 523.929382 m,
      bearing: 75.557301 deg,
      approach rate: -0.639826 m/s,
      LOS rate: 0.001778 deg/s,
      cmd heading: 77.610811 deg,
      new cmd heading: 77.612939 deg.

2025-10-27T15:00:35.780Z,1761577235.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354601 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:35.820Z,1761577235.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752019
2025-10-27T15:00:36.074Z,1761577236.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005677
2025-10-27T15:00:36.129Z,1761577236.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200907,-0.961866,-0.185607],[0.965685,0.226297,-0.127442],[0.164585,-0.153634,0.974325]]
2025-10-27T15:00:36.198Z,1761577236.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:36.205Z,1761577236.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 523.615479 m,
      bearing: 75.557336 deg,
      approach rate: -0.736812 m/s,
      LOS rate: 0.000081 deg/s,
      cmd heading: 77.612935 deg,
      new cmd heading: 77.613039 deg.

2025-10-27T15:00:36.206Z,1761577236.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354603 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:36.324Z,1761577236.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255822
2025-10-27T15:00:36.543Z,1761577236.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199734,-0.962055,-0.185892],[0.965602,0.225490,-0.129488],[0.166491,-0.153634,0.974001]]
2025-10-27T15:00:36.576Z,1761577236.576 [DAT](INFO): DAT read: Rx Time:15:00:35.2133

2025-10-27T15:00:36.576Z,1761577236.576 [DAT](INFO): Rx dataTimestamp_ set to:1761577236.576125
2025-10-27T15:00:36.577Z,1761577236.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508916
2025-10-27T15:00:36.589Z,1761577236.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:36.591Z,1761577236.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:36.594Z,1761577236.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 523.346741 m,
      bearing: 75.557333 deg,
      approach rate: -0.683368 m/s,
      LOS rate: -0.000009 deg/s,
      cmd heading: 77.613038 deg,
      new cmd heading: 77.613027 deg.

2025-10-27T15:00:36.595Z,1761577236.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354603 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:36.829Z,1761577236.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760430
2025-10-27T15:00:36.949Z,1761577236.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197939,-0.962294,-0.186573],[0.965555,0.224210,-0.132037],[0.168890,-0.154011,0.973528]]
2025-10-27T15:00:36.972Z,1761577236.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.98 m.
2025-10-27T15:00:36.976Z,1761577236.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.977417 m,
      nav range: 523.057556 m,
      bearing: 75.557272 deg,
      approach rate: -0.759160 m/s,
      LOS rate: -0.000159 deg/s,
      cmd heading: 77.613024 deg,
      new cmd heading: 77.612842 deg.

2025-10-27T15:00:36.978Z,1761577236.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354600 target range: 546.977417 and range: 548.70 m.
2025-10-27T15:00:37.084Z,1761577237.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015057
2025-10-27T15:00:37.337Z,1761577237.337 [DAT](INFO): DAT read: 15:00:35.2133 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 405,-0.39,-1.402,-2.884,-1.120,-1.657, PHS= 0.357,-1.182, 0.492, RAW= 154.2,   4.2, CAL= 153.2,   3.9, ROT= 356.8,  -3.9

2025-10-27T15:00:37.338Z,1761577237.338 [DAT](INFO): got valid direction response:
 15:00:35.2133 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 405,-0.39,-1.402,-2.884,-1.120,-1.657, PHS= 0.357,-1.182, 0.492, RAW= 154.2,   4.2, CAL= 153.2,   3.9, ROT= 356.8,  -3.9

2025-10-27T15:00:37.339Z,1761577237.339 [DAT](INFO): DAT read: Bearing 246.3,   6.3 (Local)

2025-10-27T15:00:37.340Z,1761577237.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.3,   6.3 (Local)

2025-10-27T15:00:37.341Z,1761577237.341 [DAT](INFO): DAT read: Range 11 to 50 : 551.1 m  (Round-trip  734.8 ms) speed  0.8 m/s

2025-10-27T15:00:37.342Z,1761577237.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:37.343Z,1761577237.343 [DAT](INFO): direction in FSK: [0.996129,-0.055693,0.068015]
2025-10-27T15:00:37.347Z,1761577237.347 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:37.350Z,1761577237.350 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:37.350Z,1761577237.350 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:37.351Z,1761577237.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:37.379Z,1761577237.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193638,-0.963113,-0.186864],[0.965522,0.220859,-0.137797],[0.173985,-0.153739,0.972673]]
2025-10-27T15:00:37.491Z,1761577237.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 551.099976 m,
      deltaT: 4.535963 s,
      deltaX: 2.399963 m,
      approachRate: 0.529097 m/s,
      rangeRepo size: 4

2025-10-27T15:00:37.517Z,1761577237.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 549.319763 m,
      bearing: 76.033220 deg,
      lat: 36.779029 deg,
      lon: -121.859644 deg,
      deltaT: 4.535963 s,
      deltaX: 2.342346 m,
      approachRate: 0.516394 m/s,
      posRepo size: 4

2025-10-27T15:00:37.518Z,1761577237.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:37.522Z,1761577237.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 522.246338 m,
      bearing: 75.745920 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000159 deg/s,
      cmd heading: 77.612840 deg,
      new cmd heading: 77.612595 deg.

2025-10-27T15:00:37.531Z,1761577237.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354595 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:37.585Z,1761577237.585 [DAT](INFO): DAT read: user:846>

2025-10-27T15:00:37.586Z,1761577237.586 [DAT](INFO): DAT read: Tx time:15:00:36.6259

2025-10-27T15:00:37.586Z,1761577237.586 [DAT](INFO): Ping request sent.
2025-10-27T15:00:37.586Z,1761577237.586 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:37.587Z,1761577237.587 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:37.588Z,1761577237.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001188
2025-10-27T15:00:37.827Z,1761577237.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190887,-0.963757,-0.186371],[0.965572,0.218534,-0.141112],[0.176727,-0.153018,0.972293]]
2025-10-27T15:00:37.836Z,1761577237.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249513
2025-10-27T15:00:37.869Z,1761577237.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:37.872Z,1761577237.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 521.939026 m,
      bearing: 75.745418 deg,
      approach rate: -0.799257 m/s,
      LOS rate: -0.001308 deg/s,
      cmd heading: 77.612594 deg,
      new cmd heading: 77.611086 deg.

2025-10-27T15:00:37.873Z,1761577237.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354569 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:38.091Z,1761577238.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503586
2025-10-27T15:00:38.231Z,1761577238.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187814,-0.964538,-0.185453],[0.965675,0.215826,-0.144535],[0.179435,-0.151942,0.971965]]
2025-10-27T15:00:38.270Z,1761577238.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:38.273Z,1761577238.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 521.631348 m,
      bearing: 75.744711 deg,
      approach rate: -0.767792 m/s,
      LOS rate: -0.001766 deg/s,
      cmd heading: 77.611084 deg,
      new cmd heading: 77.608961 deg.

2025-10-27T15:00:38.274Z,1761577238.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354532 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:38.340Z,1761577238.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753600
2025-10-27T15:00:38.592Z,1761577238.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005514
2025-10-27T15:00:38.675Z,1761577238.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:38.677Z,1761577238.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:38.680Z,1761577238.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 521.317505 m,
      bearing: 75.743988 deg,
      approach rate: -0.770112 m/s,
      LOS rate: -0.001774 deg/s,
      cmd heading: 77.608960 deg,
      new cmd heading: 77.606792 deg.

2025-10-27T15:00:38.681Z,1761577238.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354494 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:38.849Z,1761577238.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262906
2025-10-27T15:00:39.038Z,1761577239.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181399,-0.965830,-0.185113],[0.965877,0.210366,-0.151089],[0.184868,-0.151389,0.971033]]
2025-10-27T15:00:39.068Z,1761577239.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:39.070Z,1761577239.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 521.020630 m,
      bearing: 75.743096 deg,
      approach rate: -0.760742 m/s,
      LOS rate: -0.002287 deg/s,
      cmd heading: 77.606795 deg,
      new cmd heading: 77.604117 deg.

2025-10-27T15:00:39.093Z,1761577239.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354447 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:39.103Z,1761577239.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516176
2025-10-27T15:00:39.352Z,1761577239.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765533
2025-10-27T15:00:39.455Z,1761577239.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178180,-0.966503,-0.184725],[0.965984,0.207565,-0.154247],[0.187423,-0.150958,0.970610]]
2025-10-27T15:00:39.518Z,1761577239.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:39.521Z,1761577239.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 520.668091 m,
      bearing: 75.742582 deg,
      approach rate: -0.783732 m/s,
      LOS rate: -0.001144 deg/s,
      cmd heading: 77.604118 deg,
      new cmd heading: 77.602574 deg.

2025-10-27T15:00:39.521Z,1761577239.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354420 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:39.605Z,1761577239.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017900
2025-10-27T15:00:39.856Z,1761577239.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269598
2025-10-27T15:00:39.864Z,1761577239.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175026,-0.966872,-0.185807],[0.966099,0.205035,-0.156886],[0.189786,-0.152049,0.969981]]
2025-10-27T15:00:39.883Z,1761577239.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:39.886Z,1761577239.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 520.384521 m,
      bearing: 75.742068 deg,
      approach rate: -0.776630 m/s,
      LOS rate: -0.001408 deg/s,
      cmd heading: 77.602574 deg,
      new cmd heading: 77.601031 deg.

2025-10-27T15:00:39.887Z,1761577239.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354393 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:40.111Z,1761577240.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524299
2025-10-27T15:00:40.311Z,1761577240.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:40.314Z,1761577240.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 520.056885 m,
      bearing: 75.742139 deg,
      approach rate: -0.765001 m/s,
      LOS rate: 0.000166 deg/s,
      cmd heading: 77.601030 deg,
      new cmd heading: 77.601244 deg.

2025-10-27T15:00:40.315Z,1761577240.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354397 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:40.362Z,1761577240.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775763
2025-10-27T15:00:40.612Z,1761577240.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025525
2025-10-27T15:00:40.675Z,1761577240.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170194,-0.966880,-0.190201],[0.966024,0.201807,-0.161469],[0.194505,-0.156258,0.968376]]
2025-10-27T15:00:40.693Z,1761577240.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:40.695Z,1761577240.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:40.697Z,1761577240.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 519.763306 m,
      bearing: 75.742049 deg,
      approach rate: -0.765222 m/s,
      LOS rate: -0.000235 deg/s,
      cmd heading: 77.601242 deg,
      new cmd heading: 77.600971 deg.

2025-10-27T15:00:40.698Z,1761577240.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354392 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:40.864Z,1761577240.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277451
2025-10-27T15:00:41.076Z,1761577241.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168695,-0.966620,-0.192842],[0.965825,0.201164,-0.163445],[0.196782,-0.158679,0.967521]]
2025-10-27T15:00:41.098Z,1761577241.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:41.101Z,1761577241.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 519.457458 m,
      bearing: 75.741906 deg,
      approach rate: -0.757494 m/s,
      LOS rate: -0.000353 deg/s,
      cmd heading: 77.600969 deg,
      new cmd heading: 77.600541 deg.

2025-10-27T15:00:41.102Z,1761577241.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354385 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:41.129Z,1761577241.129 [DAT](INFO): DAT read: Rx Time:15:00:39.7524

2025-10-27T15:00:41.130Z,1761577241.130 [DAT](INFO): Rx dataTimestamp_ set to:1761577241.129254
2025-10-27T15:00:41.132Z,1761577241.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545166
2025-10-27T15:00:41.368Z,1761577241.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781983
2025-10-27T15:00:41.483Z,1761577241.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168049,-0.966158,-0.195699],[0.965501,0.201375,-0.165095],[0.198917,-0.161203,0.966667]]
2025-10-27T15:00:41.537Z,1761577241.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.32 m.
2025-10-27T15:00:41.540Z,1761577241.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 549.319763 m,
      nav range: 519.139343 m,
      bearing: 75.742934 deg,
      approach rate: -0.725623 m/s,
      LOS rate: 0.002345 deg/s,
      cmd heading: 77.600539 deg,
      new cmd heading: 77.603623 deg.

2025-10-27T15:00:41.541Z,1761577241.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354439 target range: 549.319763 and range: 551.10 m.
2025-10-27T15:00:41.623Z,1761577241.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035929
2025-10-27T15:00:41.879Z,1761577241.879 [DAT](INFO): DAT read: 15:00:39.7524 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 321, 0.14,-2.107, 2.785,-1.852,-2.273, PHS= 0.268,-1.180, 0.378, RAW= 153.6,   7.2, CAL= 153.0,   7.5, ROT= 357.0,  -7.5

2025-10-27T15:00:41.881Z,1761577241.881 [DAT](INFO): got valid direction response:
 15:00:39.7524 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 321, 0.14,-2.107, 2.785,-1.852,-2.273, PHS= 0.268,-1.180, 0.378, RAW= 153.6,   7.2, CAL= 153.0,   7.5, ROT= 357.0,  -7.5

2025-10-27T15:00:41.882Z,1761577241.882 [DAT](INFO): DAT read: Bearing 249.7,   6.9 (Local)

2025-10-27T15:00:41.882Z,1761577241.882 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.7,   6.9 (Local)

2025-10-27T15:00:41.884Z,1761577241.884 [DAT](INFO): DAT read: Range 11 to 50 : 541.7 m  (Round-trip  722.3 ms) speed  0.4 m/s

2025-10-27T15:00:41.884Z,1761577241.884 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:41.885Z,1761577241.885 [DAT](INFO): direction in FSK: [0.990086,-0.051888,0.130526]
2025-10-27T15:00:41.886Z,1761577241.886 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:41.890Z,1761577241.890 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:41.890Z,1761577241.890 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:41.890Z,1761577241.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:41.994Z,1761577241.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168075,-0.965477,-0.199010],[0.965066,0.202319,-0.166479],[0.200995,-0.164077,0.965753]]
2025-10-27T15:00:42.059Z,1761577242.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 541.700012 m,
      deltaT: 4.540749 s,
      deltaX: -9.399963 m,
      approachRate: -2.070135 m/s,
      rangeRepo size: 4

2025-10-27T15:00:42.061Z,1761577242.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 539.899902 m,
      bearing: 78.339920 deg,
      lat: 36.779028 deg,
      lon: -121.859650 deg,
      deltaT: 4.540749 s,
      deltaX: -9.419861 m,
      approachRate: -2.074517 m/s,
      posRepo size: 4

2025-10-27T15:00:42.062Z,1761577242.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:42.069Z,1761577242.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 518.247314 m,
      bearing: 75.744100 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002345 deg/s,
      cmd heading: 77.603626 deg,
      new cmd heading: 77.607266 deg.

2025-10-27T15:00:42.070Z,1761577242.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354502 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:42.126Z,1761577242.126 [DAT](INFO): DAT read: user:847>

2025-10-27T15:00:42.127Z,1761577242.127 [DAT](INFO): DAT read: Tx time:15:00:41.1744

2025-10-27T15:00:42.128Z,1761577242.128 [DAT](INFO): Ping request sent.
2025-10-27T15:00:42.128Z,1761577242.128 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:42.128Z,1761577242.128 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:42.129Z,1761577242.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-10-27T15:00:42.380Z,1761577242.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252105
2025-10-27T15:00:42.536Z,1761577242.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:42.538Z,1761577242.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 517.892700 m,
      bearing: 75.746214 deg,
      approach rate: -0.736792 m/s,
      LOS rate: 0.004395 deg/s,
      cmd heading: 77.607266 deg,
      new cmd heading: 77.613612 deg.

2025-10-27T15:00:42.539Z,1761577242.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354613 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:42.633Z,1761577242.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504817
2025-10-27T15:00:42.844Z,1761577242.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170114,-0.963915,-0.204764],[0.963910,0.205951,-0.168705],[0.204789,-0.168675,0.964163]]
2025-10-27T15:00:42.884Z,1761577242.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756235
2025-10-27T15:00:42.890Z,1761577242.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:42.896Z,1761577242.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:42.903Z,1761577242.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 517.647888 m,
      bearing: 75.747740 deg,
      approach rate: -0.679015 m/s,
      LOS rate: 0.004234 deg/s,
      cmd heading: 77.613612 deg,
      new cmd heading: 77.618191 deg.

2025-10-27T15:00:42.908Z,1761577242.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354693 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:43.139Z,1761577243.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010672
2025-10-27T15:00:43.246Z,1761577243.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171652,-0.962840,-0.208508],[0.963285,0.208390,-0.169281],[0.206442,-0.171795,0.963259]]
2025-10-27T15:00:43.304Z,1761577243.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:43.306Z,1761577243.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 517.381165 m,
      bearing: 75.749915 deg,
      approach rate: -0.654538 m/s,
      LOS rate: 0.005341 deg/s,
      cmd heading: 77.618188 deg,
      new cmd heading: 77.624717 deg.

2025-10-27T15:00:43.307Z,1761577243.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354807 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:43.388Z,1761577243.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260179
2025-10-27T15:00:43.640Z,1761577243.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512226
2025-10-27T15:00:43.651Z,1761577243.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173157,-0.961858,-0.211767],[0.962677,0.210705,-0.169874],[0.208015,-0.174448,0.962444]]
2025-10-27T15:00:43.686Z,1761577243.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:43.689Z,1761577243.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 517.135986 m,
      bearing: 75.751960 deg,
      approach rate: -0.641145 m/s,
      LOS rate: 0.005349 deg/s,
      cmd heading: 77.624717 deg,
      new cmd heading: 77.630854 deg.

2025-10-27T15:00:43.690Z,1761577243.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354914 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:43.892Z,1761577243.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764137
2025-10-27T15:00:44.101Z,1761577244.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:44.104Z,1761577244.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 516.877808 m,
      bearing: 75.754116 deg,
      approach rate: -0.622554 m/s,
      LOS rate: 0.005201 deg/s,
      cmd heading: 77.630858 deg,
      new cmd heading: 77.637328 deg.

2025-10-27T15:00:44.105Z,1761577244.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355027 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:44.144Z,1761577244.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016653
2025-10-27T15:00:44.396Z,1761577244.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268166
2025-10-27T15:00:44.459Z,1761577244.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176796,-0.959632,-0.218743],[0.961500,0.215896,-0.170022],[0.210384,-0.180263,0.960856]]
2025-10-27T15:00:44.523Z,1761577244.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:44.526Z,1761577244.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 516.607544 m,
      bearing: 75.755590 deg,
      approach rate: -0.639717 m/s,
      LOS rate: 0.003492 deg/s,
      cmd heading: 77.637326 deg,
      new cmd heading: 77.641752 deg.

2025-10-27T15:00:44.527Z,1761577244.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355104 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:44.648Z,1761577244.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520113
2025-10-27T15:00:44.866Z,1761577244.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178102,-0.959063,-0.220178],[0.960932,0.217692,-0.170936],[0.211869,-0.181132,0.960366]]
2025-10-27T15:00:44.896Z,1761577244.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:44.898Z,1761577244.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:44.900Z,1761577244.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772249
2025-10-27T15:00:44.902Z,1761577244.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 516.374756 m,
      bearing: 75.756897 deg,
      approach rate: -0.621499 m/s,
      LOS rate: 0.003492 deg/s,
      cmd heading: 77.641752 deg,
      new cmd heading: 77.645675 deg.

2025-10-27T15:00:44.903Z,1761577244.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355173 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:45.155Z,1761577245.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026965
2025-10-27T15:00:45.314Z,1761577245.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:45.317Z,1761577245.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 516.118835 m,
      bearing: 75.757480 deg,
      approach rate: -0.614591 m/s,
      LOS rate: 0.001400 deg/s,
      cmd heading: 77.645672 deg,
      new cmd heading: 77.647421 deg.

2025-10-27T15:00:45.318Z,1761577245.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355203 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:45.405Z,1761577245.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276675
2025-10-27T15:00:45.656Z,1761577245.656 [DAT](INFO): DAT read: Rx Time:15:00:44.2973

2025-10-27T15:00:45.656Z,1761577245.656 [DAT](INFO): Rx dataTimestamp_ set to:1761577245.656064
2025-10-27T15:00:45.657Z,1761577245.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529129
2025-10-27T15:00:45.672Z,1761577245.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180640,-0.959058,-0.218124],[0.959917,0.220232,-0.173369],[0.214309,-0.178063,0.960398]]
2025-10-27T15:00:45.691Z,1761577245.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:45.694Z,1761577245.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 515.887695 m,
      bearing: 75.758089 deg,
      approach rate: -0.613563 m/s,
      LOS rate: 0.001617 deg/s,
      cmd heading: 77.647421 deg,
      new cmd heading: 77.649248 deg.

2025-10-27T15:00:45.695Z,1761577245.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355235 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:45.908Z,1761577245.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780172
2025-10-27T15:00:46.107Z,1761577246.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.90 m.
2025-10-27T15:00:46.110Z,1761577246.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.899902 m,
      nav range: 515.632202 m,
      bearing: 75.758762 deg,
      approach rate: -0.614087 m/s,
      LOS rate: 0.001620 deg/s,
      cmd heading: 77.649245 deg,
      new cmd heading: 77.651266 deg.

2025-10-27T15:00:46.111Z,1761577246.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355270 target range: 539.899902 and range: 541.70 m.
2025-10-27T15:00:46.164Z,1761577246.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035880
2025-10-27T15:00:46.418Z,1761577246.418 [DAT](INFO): DAT read: 15:00:44.2973 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 413, 0.27, 0.350,-1.127, 0.568, 0.141, PHS= 0.310,-1.224, 0.383, RAW= 152.3,   6.8, CAL= 151.7,   7.1, ROT= 358.3,  -7.1

2025-10-27T15:00:46.419Z,1761577246.419 [DAT](INFO): got valid direction response:
 15:00:44.2973 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 413, 0.27, 0.350,-1.127, 0.568, 0.141, PHS= 0.310,-1.224, 0.383, RAW= 152.3,   6.8, CAL= 151.7,   7.1, ROT= 358.3,  -7.1

2025-10-27T15:00:46.421Z,1761577246.421 [DAT](INFO): DAT read: Bearing 246.9,   9.6 (Local)

2025-10-27T15:00:46.421Z,1761577246.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.9,   9.6 (Local)

2025-10-27T15:00:46.423Z,1761577246.423 [DAT](INFO): DAT read: Range 11 to 50 : 539.1 m  (Round-trip  718.8 ms) speed  0.4 m/s

2025-10-27T15:00:46.424Z,1761577246.424 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:46.426Z,1761577246.426 [DAT](INFO): direction in FSK: [0.991895,-0.029439,0.123601]
2025-10-27T15:00:46.426Z,1761577246.426 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:46.437Z,1761577246.437 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:46.437Z,1761577246.437 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:46.437Z,1761577246.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:46.568Z,1761577246.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182859,-0.958857,-0.217155],[0.959054,0.222565,-0.175159],[0.216284,-0.176234,0.960293]]
2025-10-27T15:00:46.632Z,1761577246.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 539.099976 m,
      deltaT: 4.540181 s,
      deltaX: -2.600037 m,
      approachRate: -0.572672 m/s,
      rangeRepo size: 4

2025-10-27T15:00:46.634Z,1761577246.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 537.288696 m,
      bearing: 78.800611 deg,
      lat: 36.779028 deg,
      lon: -121.859663 deg,
      deltaT: 4.540181 s,
      deltaX: -2.611206 m,
      approachRate: -0.575133 m/s,
      posRepo size: 4

2025-10-27T15:00:46.635Z,1761577246.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:46.638Z,1761577246.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 514.172913 m,
      bearing: 75.726757 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001620 deg/s,
      cmd heading: 77.651266 deg,
      new cmd heading: 77.653813 deg.

2025-10-27T15:00:46.655Z,1761577246.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355315 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:46.664Z,1761577246.664 [DAT](INFO): DAT read: user:848>

2025-10-27T15:00:46.665Z,1761577246.665 [DAT](INFO): DAT read: Tx time:15:00:45.7244

2025-10-27T15:00:46.665Z,1761577246.665 [DAT](INFO): Ping request sent.
2025-10-27T15:00:46.665Z,1761577246.665 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:46.665Z,1761577246.665 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:46.666Z,1761577246.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-27T15:00:46.916Z,1761577246.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250612
2025-10-27T15:00:46.993Z,1761577246.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183660,-0.958394,-0.218518],[0.958337,0.224047,-0.177181],[0.218767,-0.176872,0.959613]]
2025-10-27T15:00:47.010Z,1761577247.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:47.013Z,1761577247.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:47.032Z,1761577247.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 513.929993 m,
      bearing: 75.726763 deg,
      approach rate: -0.636394 m/s,
      LOS rate: 0.000014 deg/s,
      cmd heading: 77.653814 deg,
      new cmd heading: 77.653830 deg.

2025-10-27T15:00:47.033Z,1761577247.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355315 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:47.168Z,1761577247.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502775
2025-10-27T15:00:47.378Z,1761577247.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183805,-0.957864,-0.220708],[0.957997,0.224846,-0.178007],[0.220132,-0.178719,0.958959]]
2025-10-27T15:00:47.420Z,1761577247.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876
2025-10-27T15:00:47.426Z,1761577247.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:47.429Z,1761577247.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 513.663025 m,
      bearing: 75.726136 deg,
      approach rate: -0.645756 m/s,
      LOS rate: -0.001516 deg/s,
      cmd heading: 77.653828 deg,
      new cmd heading: 77.651947 deg.

2025-10-27T15:00:47.430Z,1761577247.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355282 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:47.673Z,1761577247.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007456
2025-10-27T15:00:47.782Z,1761577247.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183580,-0.957803,-0.221160],[0.957695,0.224992,-0.179438],[0.221625,-0.178863,0.958588]]
2025-10-27T15:00:47.800Z,1761577247.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:47.827Z,1761577247.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 513.419678 m,
      bearing: 75.725560 deg,
      approach rate: -0.649971 m/s,
      LOS rate: -0.001540 deg/s,
      cmd heading: 77.651949 deg,
      new cmd heading: 77.650220 deg.

2025-10-27T15:00:47.828Z,1761577247.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355252 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:47.924Z,1761577247.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258714
2025-10-27T15:00:48.177Z,1761577248.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511470
2025-10-27T15:00:48.363Z,1761577248.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:48.365Z,1761577248.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 513.043335 m,
      bearing: 75.724322 deg,
      approach rate: -0.669632 m/s,
      LOS rate: -0.002205 deg/s,
      cmd heading: 77.650221 deg,
      new cmd heading: 77.646504 deg.

2025-10-27T15:00:48.366Z,1761577248.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355187 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:48.428Z,1761577248.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762927
2025-10-27T15:00:48.680Z,1761577248.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014749
2025-10-27T15:00:48.834Z,1761577248.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183387,-0.958003,-0.220451],[0.957030,0.225233,-0.182655],[0.224637,-0.177482,0.958143]]
2025-10-27T15:00:48.877Z,1761577248.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:48.880Z,1761577248.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 512.715210 m,
      bearing: 75.723243 deg,
      approach rate: -0.638092 m/s,
      LOS rate: -0.002099 deg/s,
      cmd heading: 77.646506 deg,
      new cmd heading: 77.643267 deg.

2025-10-27T15:00:48.881Z,1761577248.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355131 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:48.932Z,1761577248.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266956
2025-10-27T15:00:49.184Z,1761577249.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518863
2025-10-27T15:00:49.314Z,1761577249.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183598,-0.958163,-0.219579],[0.956702,0.225496,-0.184048],[0.225862,-0.176281,0.958077]]
2025-10-27T15:00:49.354Z,1761577249.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:49.356Z,1761577249.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:49.359Z,1761577249.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 512.369812 m,
      bearing: 75.722979 deg,
      approach rate: -0.720154 m/s,
      LOS rate: -0.000551 deg/s,
      cmd heading: 77.643268 deg,
      new cmd heading: 77.642475 deg.

2025-10-27T15:00:49.360Z,1761577249.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355117 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:49.437Z,1761577249.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771625
2025-10-27T15:00:49.688Z,1761577249.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022779
2025-10-27T15:00:49.712Z,1761577249.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183762,-0.958302,-0.218835],[0.956424,0.225702,-0.185236],[0.226904,-0.175260,0.958018]]
2025-10-27T15:00:49.744Z,1761577249.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:49.748Z,1761577249.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 512.110046 m,
      bearing: 75.722788 deg,
      approach rate: -0.679492 m/s,
      LOS rate: -0.000499 deg/s,
      cmd heading: 77.642476 deg,
      new cmd heading: 77.641903 deg.

2025-10-27T15:00:49.750Z,1761577249.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355107 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:49.940Z,1761577249.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274854
2025-10-27T15:00:50.110Z,1761577250.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184013,-0.958282,-0.218711],[0.956132,0.226107,-0.186247],[0.227929,-0.174845,0.957850]]
2025-10-27T15:00:50.135Z,1761577250.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:50.138Z,1761577250.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 511.834930 m,
      bearing: 75.722596 deg,
      approach rate: -0.693884 m/s,
      LOS rate: -0.000484 deg/s,
      cmd heading: 77.641902 deg,
      new cmd heading: 77.641326 deg.

2025-10-27T15:00:50.139Z,1761577250.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355097 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:50.192Z,1761577250.192 [DAT](INFO): DAT read: Rx Time:15:00:48.8505

2025-10-27T15:00:50.193Z,1761577250.193 [DAT](INFO): Rx dataTimestamp_ set to:1761577250.192417
2025-10-27T15:00:50.193Z,1761577250.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528130
2025-10-27T15:00:50.444Z,1761577250.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778708
2025-10-27T15:00:50.514Z,1761577250.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184759,-0.957918,-0.219676],[0.955755,0.227194,-0.186859],[0.228904,-0.175432,0.957510]]
2025-10-27T15:00:50.580Z,1761577250.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:50.582Z,1761577250.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 511.544647 m,
      bearing: 75.722166 deg,
      approach rate: -0.652981 m/s,
      LOS rate: -0.000969 deg/s,
      cmd heading: 77.641328 deg,
      new cmd heading: 77.640036 deg.

2025-10-27T15:00:50.584Z,1761577250.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355074 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:50.698Z,1761577250.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032096
2025-10-27T15:00:50.922Z,1761577250.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185562,-0.957163,-0.222272],[0.955344,0.228671,-0.187157],[0.229967,-0.177617,0.956853]]
2025-10-27T15:00:50.943Z,1761577250.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.29 m.
2025-10-27T15:00:50.946Z,1761577250.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 537.288696 m,
      nav range: 511.272217 m,
      bearing: 75.721787 deg,
      approach rate: -0.749708 m/s,
      LOS rate: -0.001043 deg/s,
      cmd heading: 77.640038 deg,
      new cmd heading: 77.638900 deg.

2025-10-27T15:00:50.959Z,1761577250.959 [DAT](INFO): DAT read: 15:00:48.8505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 478, 0.07, 2.492, 1.050, 2.699, 2.273, PHS= 0.321,-1.178, 0.382, RAW= 152.0,   6.3, CAL= 151.3,   6.5, ROT= 358.7,  -6.5

2025-10-27T15:00:50.962Z,1761577250.962 [DAT](INFO): got valid direction response:
 15:00:48.8505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 478, 0.07, 2.492, 1.050, 2.699, 2.273, PHS= 0.321,-1.178, 0.382, RAW= 152.0,   6.3, CAL= 151.3,   6.5, ROT= 358.7,  -6.5

2025-10-27T15:00:50.962Z,1761577250.962 [DAT](INFO): DAT read: Bearing 244.2,  10.8 (Local)

2025-10-27T15:00:50.976Z,1761577250.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355054 target range: 537.288696 and range: 539.10 m.
2025-10-27T15:00:50.983Z,1761577250.983 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.2,  10.8 (Local)

2025-10-27T15:00:50.985Z,1761577250.985 [DAT](INFO): DAT read: Range 11 to 50 : 541.5 m  (Round-trip  722.0 ms) speed  0.7 m/s

2025-10-27T15:00:50.985Z,1761577250.985 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:00:50.986Z,1761577250.986 [DAT](INFO): direction in FSK: [0.993316,-0.022541,0.113203]
2025-10-27T15:00:50.986Z,1761577250.986 [DAT](INFO): publishing direction and range info
2025-10-27T15:00:50.998Z,1761577250.998 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:00:50.998Z,1761577250.998 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:00:50.998Z,1761577250.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:00:51.200Z,1761577251.200 [DAT](INFO): DAT read: user:849>

2025-10-27T15:00:51.201Z,1761577251.201 [DAT](INFO): DAT read: Tx time:15:00:50.2744

2025-10-27T15:00:51.201Z,1761577251.201 [DAT](INFO): Ping request sent.
2025-10-27T15:00:51.201Z,1761577251.201 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:00:51.201Z,1761577251.201 [DAT](INFO): publishing transmit ping time
2025-10-27T15:00:51.202Z,1761577251.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-27T15:00:51.350Z,1761577251.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186606,-0.956103,-0.225930],[0.954921,0.230562,-0.186993],[0.230876,-0.180852,0.956028]]
2025-10-27T15:00:51.445Z,1761577251.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 541.500000 m,
      deltaT: 4.535260 s,
      deltaX: 2.400024 m,
      approachRate: 0.529192 m/s,
      rangeRepo size: 4

2025-10-27T15:00:51.448Z,1761577251.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 539.670166 m,
      bearing: 78.875382 deg,
      lat: 36.778805 deg,
      lon: -121.859650 deg,
      deltaT: 4.535260 s,
      deltaX: 2.381470 m,
      approachRate: 0.525101 m/s,
      posRepo size: 4

2025-10-27T15:00:51.449Z,1761577251.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:51.454Z,1761577251.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251926
2025-10-27T15:00:51.458Z,1761577251.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 506.540070 m,
      bearing: 78.466991 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001043 deg/s,
      cmd heading: 77.638897 deg,
      new cmd heading: 77.637327 deg.

2025-10-27T15:00:51.461Z,1761577251.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355027 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:51.704Z,1761577251.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503024
2025-10-27T15:00:51.790Z,1761577251.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188303,-0.955546,-0.226879],[0.954205,0.232682,-0.188020],[0.232453,-0.181084,0.955602]]
2025-10-27T15:00:51.823Z,1761577251.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:51.825Z,1761577251.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:51.828Z,1761577251.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 506.273102 m,
      bearing: 78.468321 deg,
      approach rate: -0.701546 m/s,
      LOS rate: 0.003496 deg/s,
      cmd heading: 77.637326 deg,
      new cmd heading: 77.641317 deg.

2025-10-27T15:00:51.829Z,1761577251.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355097 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:51.957Z,1761577251.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755613
2025-10-27T15:00:52.190Z,1761577252.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189256,-0.954980,-0.228461],[0.953852,0.234038,-0.188127],[0.233127,-0.182314,0.955203]]
2025-10-27T15:00:52.208Z,1761577252.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006658
2025-10-27T15:00:52.211Z,1761577252.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:52.214Z,1761577252.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 506.006500 m,
      bearing: 78.469681 deg,
      approach rate: -0.690570 m/s,
      LOS rate: 0.003523 deg/s,
      cmd heading: 77.641315 deg,
      new cmd heading: 77.645395 deg.

2025-10-27T15:00:52.215Z,1761577252.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355168 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:52.461Z,1761577252.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259070
2025-10-27T15:00:52.593Z,1761577252.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190117,-0.954791,-0.228538],[0.953512,0.235014,-0.188636],[0.233818,-0.182051,0.955085]]
2025-10-27T15:00:52.649Z,1761577252.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:52.652Z,1761577252.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 505.712433 m,
      bearing: 78.470739 deg,
      approach rate: -0.672294 m/s,
      LOS rate: 0.002422 deg/s,
      cmd heading: 77.645392 deg,
      new cmd heading: 77.648570 deg.

2025-10-27T15:00:52.653Z,1761577252.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355223 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:52.712Z,1761577252.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511035
2025-10-27T15:00:52.965Z,1761577252.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763651
2025-10-27T15:00:52.997Z,1761577252.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191370,-0.954803,-0.227438],[0.953183,0.236063,-0.188987],[0.234135,-0.180623,0.955278]]
2025-10-27T15:00:53.029Z,1761577253.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:53.032Z,1761577253.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 505.435089 m,
      bearing: 78.471783 deg,
      approach rate: -0.729591 m/s,
      LOS rate: 0.002748 deg/s,
      cmd heading: 77.648568 deg,
      new cmd heading: 77.651702 deg.

2025-10-27T15:00:53.033Z,1761577253.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355278 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:53.219Z,1761577253.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017747
2025-10-27T15:00:53.402Z,1761577253.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192450,-0.955182,-0.224923],[0.952895,0.236658,-0.189694],[0.234422,-0.177822,0.955733]]
2025-10-27T15:00:53.469Z,1761577253.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267098
2025-10-27T15:00:53.488Z,1761577253.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:53.490Z,1761577253.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 505.129730 m,
      bearing: 78.472517 deg,
      approach rate: -0.665421 m/s,
      LOS rate: 0.001601 deg/s,
      cmd heading: 77.651704 deg,
      new cmd heading: 77.653908 deg.

2025-10-27T15:00:53.496Z,1761577253.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355316 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:53.720Z,1761577253.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519148
2025-10-27T15:00:53.806Z,1761577253.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193149,-0.955580,-0.222623],[0.952689,0.236922,-0.190397],[0.234684,-0.175316,0.956132]]
2025-10-27T15:00:53.834Z,1761577253.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:53.837Z,1761577253.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:53.839Z,1761577253.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 504.875702 m,
      bearing: 78.473156 deg,
      approach rate: -0.728157 m/s,
      LOS rate: 0.001831 deg/s,
      cmd heading: 77.653910 deg,
      new cmd heading: 77.655826 deg.

2025-10-27T15:00:53.840Z,1761577253.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355350 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:53.973Z,1761577253.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771760
2025-10-27T15:00:54.210Z,1761577254.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193775,-0.955944,-0.220506],[0.952508,0.237143,-0.191029],[0.234904,-0.173017,0.956496]]
2025-10-27T15:00:54.224Z,1761577254.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022704
2025-10-27T15:00:54.230Z,1761577254.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:54.233Z,1761577254.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 504.603729 m,
      bearing: 78.473866 deg,
      approach rate: -0.690868 m/s,
      LOS rate: 0.001806 deg/s,
      cmd heading: 77.655829 deg,
      new cmd heading: 77.657962 deg.

2025-10-27T15:00:54.234Z,1761577254.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355387 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:54.477Z,1761577254.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275196
2025-10-27T15:00:54.614Z,1761577254.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194150,-0.955860,-0.220538],[0.952375,0.237552,-0.191182],[0.235133,-0.172917,0.956458]]
2025-10-27T15:00:54.658Z,1761577254.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:54.661Z,1761577254.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 504.299896 m,
      bearing: 78.473678 deg,
      approach rate: -0.710509 m/s,
      LOS rate: -0.000442 deg/s,
      cmd heading: 77.657960 deg,
      new cmd heading: 77.657393 deg.

2025-10-27T15:00:54.662Z,1761577254.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355377 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:54.730Z,1761577254.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528726
2025-10-27T15:00:54.980Z,1761577254.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778695
2025-10-27T15:00:55.024Z,1761577255.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194160,-0.956142,-0.219303],[0.952329,0.237347,-0.191667],[0.235311,-0.171635,0.956645]]
2025-10-27T15:00:55.046Z,1761577255.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:55.056Z,1761577255.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 504.026978 m,
      bearing: 78.473512 deg,
      approach rate: -0.709121 m/s,
      LOS rate: -0.000430 deg/s,
      cmd heading: 77.657393 deg,
      new cmd heading: 77.656897 deg.

2025-10-27T15:00:55.057Z,1761577255.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355368 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:55.232Z,1761577255.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030582
2025-10-27T15:00:55.486Z,1761577255.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285125
2025-10-27T15:00:55.507Z,1761577255.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:55.510Z,1761577255.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 503.694305 m,
      bearing: 78.472477 deg,
      approach rate: -0.716299 m/s,
      LOS rate: -0.002231 deg/s,
      cmd heading: 77.656894 deg,
      new cmd heading: 77.653787 deg.

2025-10-27T15:00:55.511Z,1761577255.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355314 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:55.741Z,1761577255.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539237
2025-10-27T15:00:55.828Z,1761577255.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193372,-0.956384,-0.218943],[0.952455,0.236540,-0.192037],[0.235450,-0.171399,0.956653]]
2025-10-27T15:00:55.845Z,1761577255.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:55.847Z,1761577255.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:55.850Z,1761577255.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 503.450989 m,
      bearing: 78.471697 deg,
      approach rate: -0.715570 m/s,
      LOS rate: -0.002296 deg/s,
      cmd heading: 77.653787 deg,
      new cmd heading: 77.651445 deg.

2025-10-27T15:00:55.852Z,1761577255.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355273 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:55.992Z,1761577255.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790549
2025-10-27T15:00:56.230Z,1761577256.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192740,-0.956336,-0.219712],[0.952600,0.236073,-0.191892],[0.235382,-0.172312,0.956506]]
2025-10-27T15:00:56.252Z,1761577256.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050663
2025-10-27T15:00:56.262Z,1761577256.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:56.270Z,1761577256.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 503.162903 m,
      bearing: 78.470747 deg,
      approach rate: -0.693934 m/s,
      LOS rate: -0.002289 deg/s,
      cmd heading: 77.651444 deg,
      new cmd heading: 77.648593 deg.

2025-10-27T15:00:56.275Z,1761577256.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355224 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:56.504Z,1761577256.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302586
2025-10-27T15:00:56.633Z,1761577256.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191905,-0.956514,-0.219668],[0.952761,0.235265,-0.192085],[0.235412,-0.172429,0.956478]]
2025-10-27T15:00:56.756Z,1761577256.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554447
2025-10-27T15:00:56.768Z,1761577256.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:56.774Z,1761577256.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 502.796417 m,
      bearing: 78.469311 deg,
      approach rate: -0.724658 m/s,
      LOS rate: -0.002841 deg/s,
      cmd heading: 77.648596 deg,
      new cmd heading: 77.644285 deg.

2025-10-27T15:00:56.788Z,1761577256.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355148 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:57.008Z,1761577257.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806643
2025-10-27T15:00:57.120Z,1761577257.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191147,-0.956807,-0.219052],[0.952872,0.234441,-0.192541],[0.235579,-0.171925,0.956527]]
2025-10-27T15:00:57.174Z,1761577257.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:57.181Z,1761577257.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 502.485504 m,
      bearing: 78.468065 deg,
      approach rate: -0.765479 m/s,
      LOS rate: -0.003070 deg/s,
      cmd heading: 77.644286 deg,
      new cmd heading: 77.640545 deg.

2025-10-27T15:00:57.182Z,1761577257.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355083 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:57.261Z,1761577257.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.059674
2025-10-27T15:00:57.512Z,1761577257.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310612
2025-10-27T15:00:57.589Z,1761577257.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:57.608Z,1761577257.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 502.167023 m,
      bearing: 78.467091 deg,
      approach rate: -0.767026 m/s,
      LOS rate: -0.002347 deg/s,
      cmd heading: 77.640543 deg,
      new cmd heading: 77.637619 deg.

2025-10-27T15:00:57.609Z,1761577257.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355032 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:57.764Z,1761577257.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.562589
2025-10-27T15:00:57.949Z,1761577257.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190002,-0.956956,-0.219395],[0.953048,0.233447,-0.192879],[0.235794,-0.172447,0.956380]]
2025-10-27T15:00:57.994Z,1761577257.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:00:57.997Z,1761577257.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:57.999Z,1761577257.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 501.860962 m,
      bearing: 78.466112 deg,
      approach rate: -0.751663 m/s,
      LOS rate: -0.002407 deg/s,
      cmd heading: 77.637620 deg,
      new cmd heading: 77.634679 deg.

2025-10-27T15:00:58.000Z,1761577258.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354981 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:58.018Z,1761577258.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.816935
2025-10-27T15:00:58.268Z,1761577258.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066529
2025-10-27T15:00:58.341Z,1761577258.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189870,-0.957116,-0.218810],[0.953008,0.233249,-0.193316],[0.236064,-0.171823,0.956426]]
2025-10-27T15:00:58.414Z,1761577258.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:58.437Z,1761577258.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 501.572144 m,
      bearing: 78.465183 deg,
      approach rate: -0.694432 m/s,
      LOS rate: -0.002234 deg/s,
      cmd heading: 77.634676 deg,
      new cmd heading: 77.631888 deg.

2025-10-27T15:00:58.444Z,1761577258.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354932 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:58.521Z,1761577258.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319756
2025-10-27T15:00:58.755Z,1761577258.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189955,-0.957234,-0.218222],[0.952889,0.233286,-0.193856],[0.236473,-0.171118,0.956451]]
2025-10-27T15:00:58.772Z,1761577258.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570709
2025-10-27T15:00:58.807Z,1761577258.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:58.810Z,1761577258.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 501.249115 m,
      bearing: 78.464765 deg,
      approach rate: -0.818965 m/s,
      LOS rate: -0.001061 deg/s,
      cmd heading: 77.631889 deg,
      new cmd heading: 77.630634 deg.

2025-10-27T15:00:58.814Z,1761577258.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354910 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:59.024Z,1761577259.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823022
2025-10-27T15:00:59.151Z,1761577259.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190590,-0.957367,-0.217081],[0.952651,0.233747,-0.194469],[0.236920,-0.169739,0.956586]]
2025-10-27T15:00:59.170Z,1761577259.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:59.173Z,1761577259.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 500.974182 m,
      bearing: 78.464431 deg,
      approach rate: -0.757681 m/s,
      LOS rate: -0.000922 deg/s,
      cmd heading: 77.630632 deg,
      new cmd heading: 77.629629 deg.

2025-10-27T15:00:59.174Z,1761577259.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354893 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:59.276Z,1761577259.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074641
2025-10-27T15:00:59.528Z,1761577259.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326653
2025-10-27T15:00:59.554Z,1761577259.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191904,-0.957189,-0.216709],[0.952306,0.234996,-0.194656],[0.237249,-0.169018,0.956633]]
2025-10-27T15:00:59.607Z,1761577259.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:00:59.610Z,1761577259.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 500.657837 m,
      bearing: 78.465636 deg,
      approach rate: -0.723487 m/s,
      LOS rate: 0.002759 deg/s,
      cmd heading: 77.629628 deg,
      new cmd heading: 77.633247 deg.

2025-10-27T15:00:59.611Z,1761577259.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354956 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:00:59.782Z,1761577259.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.580361
2025-10-27T15:01:00.010Z,1761577260.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:00.012Z,1761577260.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:00.016Z,1761577260.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 500.363647 m,
      bearing: 78.466759 deg,
      approach rate: -0.725600 m/s,
      LOS rate: 0.002770 deg/s,
      cmd heading: 77.633248 deg,
      new cmd heading: 77.636618 deg.

2025-10-27T15:01:00.017Z,1761577260.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355015 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:00.035Z,1761577260.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.833777
2025-10-27T15:01:00.284Z,1761577260.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082603
2025-10-27T15:01:00.362Z,1761577260.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195864,-0.956068,-0.218107],[0.951330,0.239216,-0.194287],[0.237926,-0.169438,0.956390]]
2025-10-27T15:01:00.404Z,1761577260.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:00.417Z,1761577260.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 500.079834 m,
      bearing: 78.467980 deg,
      approach rate: -0.725524 m/s,
      LOS rate: 0.003123 deg/s,
      cmd heading: 77.636616 deg,
      new cmd heading: 77.640281 deg.

2025-10-27T15:01:00.473Z,1761577260.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355079 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:00.537Z,1761577260.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335101
2025-10-27T15:01:00.783Z,1761577260.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198363,-0.955024,-0.220410],[0.950620,0.242228,-0.194028],[0.238691,-0.171039,0.955914]]
2025-10-27T15:01:00.788Z,1761577260.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586693
2025-10-27T15:01:00.824Z,1761577260.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:00.830Z,1761577260.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 499.775116 m,
      bearing: 78.469387 deg,
      approach rate: -0.724234 m/s,
      LOS rate: 0.003346 deg/s,
      cmd heading: 77.640283 deg,
      new cmd heading: 77.644507 deg.

2025-10-27T15:01:00.831Z,1761577260.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355152 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:01.040Z,1761577261.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838602
2025-10-27T15:01:01.185Z,1761577261.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201693,-0.953925,-0.222144],[0.949822,0.245857,-0.193373],[0.239079,-0.171995,0.955646]]
2025-10-27T15:01:01.204Z,1761577261.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:01.207Z,1761577261.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 499.500000 m,
      bearing: 78.470770 deg,
      approach rate: -0.724247 m/s,
      LOS rate: 0.003645 deg/s,
      cmd heading: 77.644504 deg,
      new cmd heading: 77.648658 deg.

2025-10-27T15:01:01.208Z,1761577261.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355225 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:01.292Z,1761577261.292 [DAT](INFO): Reached modem response timeout
2025-10-27T15:01:01.292Z,1761577261.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:01:01.292Z,1761577261.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:01.544Z,1761577261.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:01:01.590Z,1761577261.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205133,-0.952626,-0.224554],[0.948970,0.249740,-0.192576],[0.239533,-0.173592,0.955243]]
2025-10-27T15:01:01.635Z,1761577261.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:01.637Z,1761577261.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 499.221710 m,
      bearing: 78.473207 deg,
      approach rate: -0.646843 m/s,
      LOS rate: 0.005667 deg/s,
      cmd heading: 77.648657 deg,
      new cmd heading: 77.655971 deg.

2025-10-27T15:01:01.638Z,1761577261.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355352 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:01.796Z,1761577261.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:01:01.999Z,1761577261.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209567,-0.951383,-0.225725],[0.947970,0.254268,-0.191572],[0.239653,-0.173833,0.955169]]
2025-10-27T15:01:02.016Z,1761577262.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:02.018Z,1761577262.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:02.021Z,1761577262.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 498.973969 m,
      bearing: 78.475512 deg,
      approach rate: -0.646044 m/s,
      LOS rate: 0.006015 deg/s,
      cmd heading: 77.655972 deg,
      new cmd heading: 77.662892 deg.

2025-10-27T15:01:02.022Z,1761577262.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355473 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:02.048Z,1761577262.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:01:02.302Z,1761577262.302 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:01:02.398Z,1761577262.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213816,-0.949992,-0.227590],[0.946988,0.258758,-0.190414],[0.239783,-0.174811,0.954958]]
2025-10-27T15:01:02.432Z,1761577262.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:02.442Z,1761577262.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 498.710388 m,
      bearing: 78.478106 deg,
      approach rate: -0.637900 m/s,
      LOS rate: 0.006279 deg/s,
      cmd heading: 77.662891 deg,
      new cmd heading: 77.670675 deg.

2025-10-27T15:01:02.447Z,1761577262.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355609 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:02.553Z,1761577262.553 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:01:02.802Z,1761577262.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217745,-0.948820,-0.228751],[0.946055,0.262800,-0.189514],[0.239930,-0.175145,0.954860]]
2025-10-27T15:01:02.804Z,1761577262.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:01:02.860Z,1761577262.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:02.867Z,1761577262.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 498.452026 m,
      bearing: 78.480638 deg,
      approach rate: -0.601860 m/s,
      LOS rate: 0.005902 deg/s,
      cmd heading: 77.670678 deg,
      new cmd heading: 77.678278 deg.

2025-10-27T15:01:02.868Z,1761577262.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355742 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:03.056Z,1761577263.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:01:03.208Z,1761577263.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221650,-0.947879,-0.228904],[0.945150,0.266590,-0.188735],[0.239921,-0.174515,0.954978]]
2025-10-27T15:01:03.227Z,1761577263.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:03.230Z,1761577263.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 498.211731 m,
      bearing: 78.483110 deg,
      approach rate: -0.656222 m/s,
      LOS rate: 0.006756 deg/s,
      cmd heading: 77.678280 deg,
      new cmd heading: 77.685701 deg.

2025-10-27T15:01:03.230Z,1761577263.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355871 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:03.308Z,1761577263.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:01:03.560Z,1761577263.560 [DAT](INFO): DAT read: Response Not Received

2025-10-27T15:01:03.560Z,1761577263.560 [DAT](INFO): response not received
2025-10-27T15:01:03.561Z,1761577263.561 [DAT](INFO): DAT read: user:850>

2025-10-27T15:01:03.561Z,1761577263.561 [DAT](INFO): DAT read: Tx time:15:01:02.7244

2025-10-27T15:01:03.562Z,1761577263.562 [DAT](INFO): Ping request sent.
2025-10-27T15:01:03.562Z,1761577263.562 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:03.562Z,1761577263.562 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:03.562Z,1761577263.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-27T15:01:03.622Z,1761577263.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225364,-0.946986,-0.228971],[0.944264,0.270186,-0.188057],[0.239952,-0.173828,0.955095]]
2025-10-27T15:01:03.680Z,1761577263.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:03.682Z,1761577263.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 497.932373 m,
      bearing: 78.485227 deg,
      approach rate: -0.616696 m/s,
      LOS rate: 0.004675 deg/s,
      cmd heading: 77.685704 deg,
      new cmd heading: 77.692057 deg.

2025-10-27T15:01:03.683Z,1761577263.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355982 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:03.812Z,1761577263.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250571
2025-10-27T15:01:04.013Z,1761577264.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228564,-0.946320,-0.228555],[0.943524,0.273165,-0.187463],[0.239834,-0.172800,0.955311]]
2025-10-27T15:01:04.039Z,1761577264.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:04.041Z,1761577264.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:04.044Z,1761577264.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 497.709412 m,
      bearing: 78.487006 deg,
      approach rate: -0.616125 m/s,
      LOS rate: 0.004920 deg/s,
      cmd heading: 77.692056 deg,
      new cmd heading: 77.697398 deg.

2025-10-27T15:01:04.045Z,1761577264.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356075 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:04.064Z,1761577264.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502262
2025-10-27T15:01:04.316Z,1761577264.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754090
2025-10-27T15:01:04.429Z,1761577264.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231482,-0.945825,-0.227664],[0.942850,0.275775,-0.187037],[0.239688,-0.171357,0.955608]]
2025-10-27T15:01:04.524Z,1761577264.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:04.534Z,1761577264.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 497.453400 m,
      bearing: 78.489146 deg,
      approach rate: -0.537791 m/s,
      LOS rate: 0.004496 deg/s,
      cmd heading: 77.697397 deg,
      new cmd heading: 77.703819 deg.

2025-10-27T15:01:04.535Z,1761577264.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356187 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:04.568Z,1761577264.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006279
2025-10-27T15:01:04.820Z,1761577264.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258344
2025-10-27T15:01:04.890Z,1761577264.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233946,-0.945636,-0.225926],[0.942264,0.277790,-0.187007],[0.239600,-0.169132,0.956026]]
2025-10-27T15:01:04.960Z,1761577264.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:04.963Z,1761577264.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 497.151581 m,
      bearing: 78.491360 deg,
      approach rate: -0.682346 m/s,
      LOS rate: 0.005008 deg/s,
      cmd heading: 77.703818 deg,
      new cmd heading: 77.710463 deg.

2025-10-27T15:01:04.968Z,1761577264.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356303 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:05.072Z,1761577265.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510181
2025-10-27T15:01:05.286Z,1761577265.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235801,-0.945683,-0.223788],[0.941844,0.279127,-0.187133],[0.239433,-0.166647,0.956504]]
2025-10-27T15:01:05.304Z,1761577265.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:05.307Z,1761577265.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 496.909454 m,
      bearing: 78.493200 deg,
      approach rate: -0.702812 m/s,
      LOS rate: 0.005344 deg/s,
      cmd heading: 77.710464 deg,
      new cmd heading: 77.715987 deg.

2025-10-27T15:01:05.308Z,1761577265.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356400 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:05.324Z,1761577265.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762055
2025-10-27T15:01:05.372Z,1761577265.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:01:05.577Z,1761577265.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014829
2025-10-27T15:01:05.690Z,1761577265.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236987,-0.946007,-0.221153],[0.941599,0.279713,-0.187490],[0.239226,-0.163805,0.957047]]
2025-10-27T15:01:05.749Z,1761577265.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:05.754Z,1761577265.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 496.611694 m,
      bearing: 78.495438 deg,
      approach rate: -0.669623 m/s,
      LOS rate: 0.005037 deg/s,
      cmd heading: 77.715989 deg,
      new cmd heading: 77.722709 deg.

2025-10-27T15:01:05.755Z,1761577265.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356517 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:05.829Z,1761577265.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266893
2025-10-27T15:01:06.080Z,1761577266.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518340
2025-10-27T15:01:06.103Z,1761577266.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237633,-0.946332,-0.219059],[0.941541,0.279850,-0.187574],[0.238810,-0.161679,0.957512]]
2025-10-27T15:01:06.120Z,1761577266.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:06.123Z,1761577266.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:06.126Z,1761577266.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 496.354370 m,
      bearing: 78.497403 deg,
      approach rate: -0.689004 m/s,
      LOS rate: 0.005263 deg/s,
      cmd heading: 77.722710 deg,
      new cmd heading: 77.728606 deg.

2025-10-27T15:01:06.126Z,1761577266.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356620 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:06.332Z,1761577266.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770137
2025-10-27T15:01:06.376Z,1761577266.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:01:06.520Z,1761577266.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237618,-0.947436,-0.214247],[0.941627,0.278825,-0.188668],[0.238489,-0.156910,0.958385]]
2025-10-27T15:01:06.588Z,1761577266.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025664
2025-10-27T15:01:06.590Z,1761577266.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:06.597Z,1761577266.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 496.043854 m,
      bearing: 78.499797 deg,
      approach rate: -0.663742 m/s,
      LOS rate: 0.005121 deg/s,
      cmd heading: 77.728605 deg,
      new cmd heading: 77.735791 deg.

2025-10-27T15:01:06.598Z,1761577266.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356745 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:06.836Z,1761577266.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274178
2025-10-27T15:01:06.966Z,1761577266.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236688,-0.948769,-0.209324],[0.941938,0.276893,-0.189956],[0.238184,-0.152210,0.959219]]
2025-10-27T15:01:07.059Z,1761577267.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:07.062Z,1761577267.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 495.710205 m,
      bearing: 78.501820 deg,
      approach rate: -0.717754 m/s,
      LOS rate: 0.004355 deg/s,
      cmd heading: 77.735790 deg,
      new cmd heading: 77.741863 deg.

2025-10-27T15:01:07.067Z,1761577267.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356851 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:07.088Z,1761577267.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526312
2025-10-27T15:01:07.340Z,1761577267.340 [DAT](INFO): DAT read: Rx Time:15:01:05.8350

2025-10-27T15:01:07.340Z,1761577267.340 [DAT](INFO): Rx dataTimestamp_ set to:1761577267.340136
2025-10-27T15:01:07.341Z,1761577267.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779219
2025-10-27T15:01:07.462Z,1761577267.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233795,-0.951094,-0.201891],[0.942855,0.272479,-0.191779],[0.237410,-0.145517,0.960448]]
2025-10-27T15:01:07.486Z,1761577267.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.67 m.
2025-10-27T15:01:07.489Z,1761577267.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.670166 m,
      nav range: 495.399414 m,
      bearing: 78.503624 deg,
      approach rate: -0.721622 m/s,
      LOS rate: 0.004191 deg/s,
      cmd heading: 77.741862 deg,
      new cmd heading: 77.747277 deg.

2025-10-27T15:01:07.490Z,1761577267.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356946 target range: 539.670166 and range: 541.50 m.
2025-10-27T15:01:07.592Z,1761577267.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030345
2025-10-27T15:01:07.849Z,1761577267.849 [DAT](INFO): DAT read: 15:01:05.8350 LVL= 30704, 32161, 32498, 32755, AGC= 65, IDX= 170, 0.35, 2.669, 1.184, 2.769, 2.325, PHS= 0.446,-1.097, 0.400, RAW= 148.5,   3.3, CAL= 147.7,   3.4, ROT=   2.3,  -3.4

2025-10-27T15:01:07.850Z,1761577267.850 [DAT](INFO): got valid direction response:
 15:01:05.8350 LVL= 30704, 32161, 32498, 32755, AGC= 65, IDX= 170, 0.35, 2.669, 1.184, 2.769, 2.325, PHS= 0.446,-1.097, 0.400, RAW= 148.5,   3.3, CAL= 147.7,   3.4, ROT=   2.3,  -3.4

2025-10-27T15:01:07.851Z,1761577267.851 [DAT](INFO): DAT read: Bearing 229.4,  16.1 (Local)

2025-10-27T15:01:07.852Z,1761577267.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.4,  16.1 (Local)

2025-10-27T15:01:07.853Z,1761577267.853 [DAT](INFO): DAT read: Range 11 to 50 : 529.8 m  (Round-trip  706.5 ms) speed  0.7 m/s

2025-10-27T15:01:07.854Z,1761577267.854 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:07.855Z,1761577267.855 [DAT](INFO): direction in FSK: [0.997436,0.040061,0.059306]
2025-10-27T15:01:07.857Z,1761577267.857 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:07.865Z,1761577267.865 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:07.865Z,1761577267.865 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:07.866Z,1761577267.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:07.995Z,1761577267.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231780,-0.952198,-0.198991],[0.943403,0.269913,-0.192712],[0.237211,-0.143062,0.960867]]
2025-10-27T15:01:08.077Z,1761577268.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 529.799988 m,
      deltaT: 16.895879 s,
      deltaX: -11.700012 m,
      approachRate: -0.692477 m/s,
      rangeRepo size: 4

2025-10-27T15:01:08.087Z,1761577268.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 527.906128 m,
      bearing: 79.091053 deg,
      lat: 36.778779 deg,
      lon: -121.859635 deg,
      deltaT: 16.895879 s,
      deltaX: -11.764038 m,
      approachRate: -0.696267 m/s,
      posRepo size: 4

2025-10-27T15:01:08.088Z,1761577268.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.91 m.
2025-10-27T15:01:08.096Z,1761577268.096 [DAT](INFO): DAT read: user:851>

2025-10-27T15:01:08.097Z,1761577268.097 [DAT](INFO): DAT read: Tx time:15:01:07.1244

2025-10-27T15:01:08.097Z,1761577268.097 [DAT](INFO): Ping request sent.
2025-10-27T15:01:08.097Z,1761577268.097 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:08.097Z,1761577268.097 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:08.098Z,1761577268.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-10-27T15:01:08.091Z,1761577268.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.906128 m,
      nav range: 495.723022 m,
      bearing: 78.870172 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004191 deg/s,
      cmd heading: 77.747278 deg,
      new cmd heading: 77.754677 deg.

2025-10-27T15:01:08.099Z,1761577268.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357075 target range: 527.906128 and range: 529.80 m.
2025-10-27T15:01:08.349Z,1761577268.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251779
2025-10-27T15:01:08.431Z,1761577268.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229530,-0.953114,-0.197202],[0.944036,0.267322,-0.193221],[0.236878,-0.141816,0.961133]]
2025-10-27T15:01:08.467Z,1761577268.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:08.469Z,1761577268.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.91 m.
2025-10-27T15:01:08.472Z,1761577268.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.906128 m,
      nav range: 495.419281 m,
      bearing: 78.872621 deg,
      approach rate: -0.768915 m/s,
      LOS rate: 0.006205 deg/s,
      cmd heading: 77.754675 deg,
      new cmd heading: 77.762028 deg.

2025-10-27T15:01:08.473Z,1761577268.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357203 target range: 527.906128 and range: 529.80 m.
2025-10-27T15:01:08.600Z,1761577268.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503074
2025-10-27T15:01:08.826Z,1761577268.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227138,-0.953967,-0.195844],[0.945071,0.264458,-0.192104],[0.235053,-0.141453,0.961635]]
2025-10-27T15:01:08.852Z,1761577268.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755060
2025-10-27T15:01:08.855Z,1761577268.855 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +41.22,     +2140 -127.19,  28.70,  0.00
2025-10-27T15:01:08.870Z,1761577268.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.91 m.
2025-10-27T15:01:08.873Z,1761577268.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.906128 m,
      nav range: 495.122589 m,
      bearing: 78.874927 deg,
      approach rate: -0.739924 m/s,
      LOS rate: 0.005752 deg/s,
      cmd heading: 77.762032 deg,
      new cmd heading: 77.768951 deg.

2025-10-27T15:01:08.874Z,1761577268.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357324 target range: 527.906128 and range: 529.80 m.
2025-10-27T15:01:09.104Z,1761577269.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006894
2025-10-27T15:01:09.287Z,1761577269.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225370,-0.955123,-0.192222],[0.946522,0.261401,-0.189119],[0.230879,-0.139321,0.962956]]
2025-10-27T15:01:09.323Z,1761577269.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.91 m.
2025-10-27T15:01:09.326Z,1761577269.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.906128 m,
      nav range: 494.799347 m,
      bearing: 78.877370 deg,
      approach rate: -0.740410 m/s,
      LOS rate: 0.005600 deg/s,
      cmd heading: 77.768951 deg,
      new cmd heading: 77.776285 deg.

2025-10-27T15:01:09.331Z,1761577269.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357452 target range: 527.906128 and range: 529.80 m.
2025-10-27T15:01:09.356Z,1761577269.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259027
2025-10-27T15:01:09.608Z,1761577269.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510817
2025-10-27T15:01:09.728Z,1761577269.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224065,-0.956298,-0.187857],[0.948250,0.258422,-0.184498],[0.224981,-0.136796,0.964713]]
2025-10-27T15:01:09.780Z,1761577269.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.91 m.
2025-10-27T15:01:09.782Z,1761577269.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.906128 m,
      nav range: 494.434967 m,
      bearing: 78.881417 deg,
      approach rate: -0.770729 m/s,
      LOS rate: 0.008568 deg/s,
      cmd heading: 77.776286 deg,
      new cmd heading: 77.788438 deg.

2025-10-27T15:01:09.800Z,1761577269.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357664 target range: 527.906128 and range: 529.80 m.
2025-10-27T15:01:09.861Z,1761577269.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763663
2025-10-27T15:01:10.112Z,1761577270.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014876
2025-10-27T15:01:10.128Z,1761577270.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223050,-0.956915,-0.185908],[0.950154,0.256038,-0.177909],[0.217843,-0.136958,0.966327]]
2025-10-27T15:01:10.159Z,1761577270.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.91 m.
2025-10-27T15:01:10.162Z,1761577270.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.906128 m,
      nav range: 494.141907 m,
      bearing: 78.884623 deg,
      approach rate: -0.773428 m/s,
      LOS rate: 0.008465 deg/s,
      cmd heading: 77.788437 deg,
      new cmd heading: 77.798060 deg.

2025-10-27T15:01:10.163Z,1761577270.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357832 target range: 527.906128 and range: 529.80 m.
2025-10-27T15:01:10.365Z,1761577270.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267497
2025-10-27T15:01:10.530Z,1761577270.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222464,-0.957235,-0.184963],[0.952134,0.254109,-0.169910],[0.209645,-0.138310,0.967946]]
2025-10-27T15:01:10.597Z,1761577270.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:10.612Z,1761577270.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.91 m.
2025-10-27T15:01:10.621Z,1761577270.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523621
2025-10-27T15:01:10.625Z,1761577270.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.906128 m,
      nav range: 493.830811 m,
      bearing: 78.887985 deg,
      approach rate: -0.694278 m/s,
      LOS rate: 0.007507 deg/s,
      cmd heading: 77.798061 deg,
      new cmd heading: 77.808152 deg.

2025-10-27T15:01:10.626Z,1761577270.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358008 target range: 527.906128 and range: 529.80 m.
2025-10-27T15:01:10.868Z,1761577270.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770968
2025-10-27T15:01:10.948Z,1761577270.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222280,-0.957652,-0.183013],[0.954075,0.252312,-0.161492],[0.200829,-0.138712,0.969756]]
2025-10-27T15:01:11.074Z,1761577271.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.91 m.
2025-10-27T15:01:11.077Z,1761577271.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.906128 m,
      nav range: 493.440216 m,
      bearing: 78.892822 deg,
      approach rate: -0.836119 m/s,
      LOS rate: 0.010364 deg/s,
      cmd heading: 77.808149 deg,
      new cmd heading: 77.822674 deg.

2025-10-27T15:01:11.078Z,1761577271.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358262 target range: 527.906128 and range: 529.80 m.
2025-10-27T15:01:11.120Z,1761577271.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023020
2025-10-27T15:01:11.372Z,1761577271.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274986
2025-10-27T15:01:11.395Z,1761577271.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222293,-0.958238,-0.179904],[0.955938,0.250499,-0.153080],[0.191753,-0.137949,0.971700]]
2025-10-27T15:01:11.465Z,1761577271.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.91 m.
2025-10-27T15:01:11.472Z,1761577271.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.906128 m,
      nav range: 493.149689 m,
      bearing: 78.896408 deg,
      approach rate: -0.743016 m/s,
      LOS rate: 0.009175 deg/s,
      cmd heading: 77.822677 deg,
      new cmd heading: 77.833439 deg.

2025-10-27T15:01:11.473Z,1761577271.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358450 target range: 527.906128 and range: 529.80 m.
2025-10-27T15:01:11.624Z,1761577271.624 [DAT](INFO): DAT read: Rx Time:15:01:10.2310

2025-10-27T15:01:11.625Z,1761577271.625 [DAT](INFO): Rx dataTimestamp_ set to:1761577271.624374
2025-10-27T15:01:11.625Z,1761577271.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528205
2025-10-27T15:01:11.798Z,1761577271.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222771,-0.958836,-0.176087],[0.959295,0.247765,-0.135518],[0.173567,-0.138731,0.975002]]
2025-10-27T15:01:11.863Z,1761577271.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.91 m.
2025-10-27T15:01:11.865Z,1761577271.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.906128 m,
      nav range: 492.847717 m,
      bearing: 78.900075 deg,
      approach rate: -0.759212 m/s,
      LOS rate: 0.009227 deg/s,
      cmd heading: 77.833441 deg,
      new cmd heading: 77.844451 deg.

2025-10-27T15:01:11.866Z,1761577271.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358642 target range: 527.906128 and range: 529.80 m.
2025-10-27T15:01:11.876Z,1761577271.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778940
2025-10-27T15:01:12.150Z,1761577272.150 [DAT](INFO): DAT read: 15:01:10.2310 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 406,-0.03,-2.000, 2.832,-1.815,-2.217, PHS= 0.320,-1.189, 0.359, RAW= 151.3,   6.7, CAL= 150.6,   7.1, ROT= 359.4,  -7.1

2025-10-27T15:01:12.151Z,1761577272.151 [DAT](INFO): got valid direction response:
 15:01:10.2310 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 406,-0.03,-2.000, 2.832,-1.815,-2.217, PHS= 0.320,-1.189, 0.359, RAW= 151.3,   6.7, CAL= 150.6,   7.1, ROT= 359.4,  -7.1

2025-10-27T15:01:12.152Z,1761577272.152 [DAT](INFO): DAT read: Bearing 232.8,   9.3 (Local)

2025-10-27T15:01:12.153Z,1761577272.153 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.8,   9.3 (Local)

2025-10-27T15:01:12.154Z,1761577272.154 [DAT](INFO): DAT read: Range 11 to 50 : 526.8 m  (Round-trip  702.5 ms) speed  0.7 m/s

2025-10-27T15:01:12.154Z,1761577272.154 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:12.156Z,1761577272.156 [DAT](INFO): direction in FSK: [0.992278,-0.010392,0.123601]
2025-10-27T15:01:12.156Z,1761577272.156 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:12.160Z,1761577272.160 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:12.160Z,1761577272.160 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:12.160Z,1761577272.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:12.234Z,1761577272.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222439,-0.959446,-0.173160],[0.960906,0.245784,-0.127474],[0.164865,-0.138035,0.976609]]
2025-10-27T15:01:12.314Z,1761577272.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 526.799988 m,
      deltaT: 4.286460 s,
      deltaX: -3.000000 m,
      approachRate: -0.699878 m/s,
      rangeRepo size: 4

2025-10-27T15:01:12.320Z,1761577272.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 524.842468 m,
      bearing: 77.385287 deg,
      lat: 36.778779 deg,
      lon: -121.859635 deg,
      deltaT: 4.286460 s,
      deltaX: -3.063660 m,
      approachRate: -0.714730 m/s,
      posRepo size: 4

2025-10-27T15:01:12.321Z,1761577272.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.84 m.
2025-10-27T15:01:12.328Z,1761577272.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 524.842468 m,
      nav range: 492.522278 m,
      bearing: 78.904002 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009227 deg/s,
      cmd heading: 77.844451 deg,
      new cmd heading: 77.856933 deg.

2025-10-27T15:01:12.329Z,1761577272.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358860 target range: 524.842468 and range: 526.80 m.
2025-10-27T15:01:12.380Z,1761577272.380 [DAT](INFO): DAT read: user:852>

2025-10-27T15:01:12.381Z,1761577272.381 [DAT](INFO): DAT read: Tx time:15:01:11.4244

2025-10-27T15:01:12.381Z,1761577272.381 [DAT](INFO): Ping request sent.
2025-10-27T15:01:12.381Z,1761577272.381 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:12.381Z,1761577272.381 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:12.382Z,1761577272.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-10-27T15:01:12.634Z,1761577272.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252872
2025-10-27T15:01:12.658Z,1761577272.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222058,-0.960021,-0.170439],[0.962470,0.243792,-0.119232],[0.156017,-0.137567,0.978128]]
2025-10-27T15:01:12.705Z,1761577272.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:12.707Z,1761577272.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.84 m.
2025-10-27T15:01:12.710Z,1761577272.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 524.842468 m,
      nav range: 492.219940 m,
      bearing: 78.907799 deg,
      approach rate: -0.768226 m/s,
      LOS rate: 0.009653 deg/s,
      cmd heading: 77.856930 deg,
      new cmd heading: 77.868327 deg.

2025-10-27T15:01:12.731Z,1761577272.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359059 target range: 524.842468 and range: 526.80 m.
2025-10-27T15:01:12.884Z,1761577272.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502680
2025-10-27T15:01:13.042Z,1761577273.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221538,-0.960530,-0.168236],[0.963964,0.241772,-0.110999],[0.147292,-0.137583,0.979477]]
2025-10-27T15:01:13.061Z,1761577273.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.84 m.
2025-10-27T15:01:13.064Z,1761577273.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 524.842468 m,
      nav range: 491.957458 m,
      bearing: 78.911069 deg,
      approach rate: -0.741292 m/s,
      LOS rate: 0.009241 deg/s,
      cmd heading: 77.868330 deg,
      new cmd heading: 77.878146 deg.

2025-10-27T15:01:13.065Z,1761577273.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359230 target range: 524.842468 and range: 526.80 m.
2025-10-27T15:01:13.137Z,1761577273.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755703
2025-10-27T15:01:13.388Z,1761577273.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006889
2025-10-27T15:01:13.455Z,1761577273.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220441,-0.961340,-0.165018],[0.965455,0.239146,-0.103472],[0.138935,-0.136508,0.980848]]
2025-10-27T15:01:13.476Z,1761577273.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.84 m.
2025-10-27T15:01:13.478Z,1761577273.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 524.842468 m,
      nav range: 491.651642 m,
      bearing: 78.914831 deg,
      approach rate: -0.737613 m/s,
      LOS rate: 0.009077 deg/s,
      cmd heading: 77.878145 deg,
      new cmd heading: 77.889435 deg.

2025-10-27T15:01:13.480Z,1761577273.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359427 target range: 524.842468 and range: 526.80 m.
2025-10-27T15:01:13.644Z,1761577273.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261659
2025-10-27T15:01:13.851Z,1761577273.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219026,-0.962001,-0.163040],[0.966925,0.236384,-0.095809],[0.130708,-0.136663,0.981956]]
2025-10-27T15:01:13.890Z,1761577273.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.84 m.
2025-10-27T15:01:13.900Z,1761577273.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518891
2025-10-27T15:01:13.921Z,1761577273.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 524.842468 m,
      nav range: 491.350555 m,
      bearing: 78.917759 deg,
      approach rate: -0.726001 m/s,
      LOS rate: 0.007065 deg/s,
      cmd heading: 77.889435 deg,
      new cmd heading: 77.898225 deg.

2025-10-27T15:01:13.928Z,1761577273.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359581 target range: 524.842468 and range: 526.80 m.
2025-10-27T15:01:14.153Z,1761577274.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771911
2025-10-27T15:01:14.253Z,1761577274.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217463,-0.962606,-0.161551],[0.968338,0.233554,-0.088166],[0.122600,-0.137263,0.982918]]
2025-10-27T15:01:14.293Z,1761577274.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.84 m.
2025-10-27T15:01:14.296Z,1761577274.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 524.842468 m,
      nav range: 491.073853 m,
      bearing: 78.920391 deg,
      approach rate: -0.688139 m/s,
      LOS rate: 0.006549 deg/s,
      cmd heading: 77.898226 deg,
      new cmd heading: 77.906126 deg.

2025-10-27T15:01:14.297Z,1761577274.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359718 target range: 524.842468 and range: 526.80 m.
2025-10-27T15:01:14.404Z,1761577274.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022951
2025-10-27T15:01:14.660Z,1761577274.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277880
2025-10-27T15:01:14.720Z,1761577274.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215720,-0.963303,-0.159724],[0.969684,0.230568,-0.080934],[0.114791,-0.137423,0.983838]]
2025-10-27T15:01:14.774Z,1761577274.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:14.777Z,1761577274.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.84 m.
2025-10-27T15:01:14.780Z,1761577274.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 524.842468 m,
      nav range: 490.705780 m,
      bearing: 78.923721 deg,
      approach rate: -0.760221 m/s,
      LOS rate: 0.006884 deg/s,
      cmd heading: 77.906128 deg,
      new cmd heading: 77.916127 deg.

2025-10-27T15:01:14.781Z,1761577274.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359893 target range: 524.842468 and range: 526.80 m.
2025-10-27T15:01:14.910Z,1761577274.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528472
2025-10-27T15:01:15.160Z,1761577275.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779198
2025-10-27T15:01:15.226Z,1761577275.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213519,-0.963991,-0.158530],[0.971041,0.227222,-0.073827],[0.107190,-0.138176,0.984590]]
2025-10-27T15:01:15.245Z,1761577275.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.84 m.
2025-10-27T15:01:15.248Z,1761577275.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 524.842468 m,
      nav range: 490.362823 m,
      bearing: 78.926728 deg,
      approach rate: -0.732148 m/s,
      LOS rate: 0.006424 deg/s,
      cmd heading: 77.916127 deg,
      new cmd heading: 77.925155 deg.

2025-10-27T15:01:15.249Z,1761577275.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360051 target range: 524.842468 and range: 526.80 m.
2025-10-27T15:01:15.413Z,1761577275.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032349
2025-10-27T15:01:15.666Z,1761577275.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284762
2025-10-27T15:01:15.669Z,1761577275.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211547,-0.964553,-0.157753],[0.972250,0.224177,-0.066897],[0.099890,-0.139223,0.985210]]
2025-10-27T15:01:15.732Z,1761577275.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.84 m.
2025-10-27T15:01:15.756Z,1761577275.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 524.842468 m,
      nav range: 490.017609 m,
      bearing: 78.929290 deg,
      approach rate: -0.709723 m/s,
      LOS rate: 0.005271 deg/s,
      cmd heading: 77.925157 deg,
      new cmd heading: 77.932848 deg.

2025-10-27T15:01:15.757Z,1761577275.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360185 target range: 524.842468 and range: 526.80 m.
2025-10-27T15:01:15.916Z,1761577275.916 [DAT](INFO): DAT read: Rx Time:15:01:14.5182

2025-10-27T15:01:15.917Z,1761577275.917 [DAT](INFO): Rx dataTimestamp_ set to:1761577275.916636
2025-10-27T15:01:15.918Z,1761577275.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537257
2025-10-27T15:01:16.029Z,1761577276.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209392,-0.965389,-0.155493],[0.973402,0.220911,-0.060724],[0.092972,-0.138642,0.985969]]
2025-10-27T15:01:16.059Z,1761577276.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.84 m.
2025-10-27T15:01:16.062Z,1761577276.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 524.842468 m,
      nav range: 489.779633 m,
      bearing: 78.930992 deg,
      approach rate: -0.727742 m/s,
      LOS rate: 0.005206 deg/s,
      cmd heading: 77.932848 deg,
      new cmd heading: 77.937955 deg.

2025-10-27T15:01:16.063Z,1761577276.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360274 target range: 524.842468 and range: 526.80 m.
2025-10-27T15:01:16.168Z,1761577276.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786888
2025-10-27T15:01:16.434Z,1761577276.434 [DAT](INFO): DAT read: 15:01:14.5182 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 308,-0.11, 1.959, 0.564, 2.263, 1.950, PHS= 0.111,-1.341, 0.270, RAW= 155.1,  12.5, CAL= 155.3,  13.9, ROT= 354.7, -13.9

2025-10-27T15:01:16.444Z,1761577276.444 [DAT](INFO): got valid direction response:
 15:01:14.5182 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 308,-0.11, 1.959, 0.564, 2.263, 1.950, PHS= 0.111,-1.341, 0.270, RAW= 155.1,  12.5, CAL= 155.3,  13.9, ROT= 354.7, -13.9

2025-10-27T15:01:16.445Z,1761577276.445 [DAT](INFO): DAT read: Bearing 240.5,  -1.3 (Local)

2025-10-27T15:01:16.445Z,1761577276.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.5,  -1.3 (Local)

2025-10-27T15:01:16.447Z,1761577276.447 [DAT](INFO): DAT read: Range 11 to 50 : 517.2 m  (Round-trip  689.7 ms) speed  0.6 m/s

2025-10-27T15:01:16.448Z,1761577276.448 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:16.449Z,1761577276.449 [DAT](INFO): direction in FSK: [0.966566,-0.089666,0.240228]
2025-10-27T15:01:16.449Z,1761577276.449 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:16.481Z,1761577276.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207484,-0.966174,-0.153160],[0.974446,0.217904,-0.054531],[0.086060,-0.137931,0.986696]]
2025-10-27T15:01:16.488Z,1761577276.488 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:16.489Z,1761577276.489 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:16.489Z,1761577276.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:16.547Z,1761577276.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 517.200012 m,
      deltaT: 4.291270 s,
      deltaX: -9.599976 m,
      approachRate: -2.237094 m/s,
      rangeRepo size: 4

2025-10-27T15:01:16.549Z,1761577276.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 515.199158 m,
      bearing: 74.603324 deg,
      lat: 36.778779 deg,
      lon: -121.859635 deg,
      deltaT: 4.291270 s,
      deltaX: -9.643311 m,
      approachRate: -2.247193 m/s,
      posRepo size: 4

2025-10-27T15:01:16.550Z,1761577276.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.20 m.
2025-10-27T15:01:16.557Z,1761577276.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.199158 m,
      nav range: 489.444458 m,
      bearing: 78.933308 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005206 deg/s,
      cmd heading: 77.937957 deg,
      new cmd heading: 77.945513 deg.

2025-10-27T15:01:16.558Z,1761577276.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360406 target range: 515.199158 and range: 517.20 m.
2025-10-27T15:01:16.676Z,1761577276.676 [DAT](INFO): DAT read: user:853>

2025-10-27T15:01:16.680Z,1761577276.680 [DAT](INFO): DAT read: Tx time:15:01:15.7744

2025-10-27T15:01:16.681Z,1761577276.681 [DAT](INFO): Ping request sent.
2025-10-27T15:01:16.681Z,1761577276.681 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:16.682Z,1761577276.682 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:16.687Z,1761577276.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005129
2025-10-27T15:01:16.854Z,1761577276.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205857,-0.966779,-0.151532],[0.975338,0.215298,-0.048606],[0.079616,-0.137789,0.987257]]
2025-10-27T15:01:16.901Z,1761577276.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:16.909Z,1761577276.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.20 m.
2025-10-27T15:01:16.925Z,1761577276.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243450
2025-10-27T15:01:16.934Z,1761577276.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.199158 m,
      nav range: 489.179840 m,
      bearing: 78.935136 deg,
      approach rate: -0.723393 m/s,
      LOS rate: 0.005000 deg/s,
      cmd heading: 77.945511 deg,
      new cmd heading: 77.950998 deg.

2025-10-27T15:01:16.940Z,1761577276.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360502 target range: 515.199158 and range: 517.20 m.
2025-10-27T15:01:17.176Z,1761577277.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495176
2025-10-27T15:01:17.371Z,1761577277.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204308,-0.967214,-0.150848],[0.976151,0.212853,-0.042687],[0.073396,-0.138529,0.987635]]
2025-10-27T15:01:17.425Z,1761577277.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.20 m.
2025-10-27T15:01:17.429Z,1761577277.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748296
2025-10-27T15:01:17.434Z,1761577277.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.199158 m,
      nav range: 488.837280 m,
      bearing: 78.937436 deg,
      approach rate: -0.663750 m/s,
      LOS rate: 0.004461 deg/s,
      cmd heading: 77.950996 deg,
      new cmd heading: 77.957903 deg.

2025-10-27T15:01:17.440Z,1761577277.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360622 target range: 515.199158 and range: 517.20 m.
2025-10-27T15:01:17.683Z,1761577277.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001315
2025-10-27T15:01:17.780Z,1761577277.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202995,-0.967750,-0.149177],[0.976875,0.210600,-0.036918],[0.067144,-0.138233,0.988121]]
2025-10-27T15:01:17.846Z,1761577277.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.20 m.
2025-10-27T15:01:17.856Z,1761577277.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.199158 m,
      nav range: 488.523163 m,
      bearing: 78.940028 deg,
      approach rate: -0.745301 m/s,
      LOS rate: 0.006153 deg/s,
      cmd heading: 77.957901 deg,
      new cmd heading: 77.965680 deg.

2025-10-27T15:01:17.856Z,1761577277.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360758 target range: 515.199158 and range: 517.20 m.
2025-10-27T15:01:17.933Z,1761577277.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251464
2025-10-27T15:01:18.184Z,1761577278.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503357
2025-10-27T15:01:18.285Z,1761577278.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202683,-0.968031,-0.147771],[0.977654,0.208633,-0.025776],[0.055782,-0.139244,0.988686]]
2025-10-27T15:01:18.304Z,1761577278.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.20 m.
2025-10-27T15:01:18.306Z,1761577278.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.199158 m,
      nav range: 488.196106 m,
      bearing: 78.942710 deg,
      approach rate: -0.714340 m/s,
      LOS rate: 0.005863 deg/s,
      cmd heading: 77.965680 deg,
      new cmd heading: 77.973734 deg.

2025-10-27T15:01:18.307Z,1761577278.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360898 target range: 515.199158 and range: 517.20 m.
2025-10-27T15:01:18.436Z,1761577278.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754961
2025-10-27T15:01:18.690Z,1761577278.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008713
2025-10-27T15:01:18.706Z,1761577278.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202972,-0.967976,-0.147734],[0.977882,0.208162,-0.020395],[0.050494,-0.140327,0.988817]]
2025-10-27T15:01:18.794Z,1761577278.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.20 m.
2025-10-27T15:01:18.797Z,1761577278.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.199158 m,
      nav range: 487.855438 m,
      bearing: 78.946408 deg,
      approach rate: -0.694038 m/s,
      LOS rate: 0.007538 deg/s,
      cmd heading: 77.973733 deg,
      new cmd heading: 77.984833 deg.

2025-10-27T15:01:18.798Z,1761577278.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361092 target range: 515.199158 and range: 517.20 m.
2025-10-27T15:01:18.940Z,1761577278.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258739
2025-10-27T15:01:19.104Z,1761577279.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203982,-0.967961,-0.146436],[0.977920,0.208410,-0.015396],[0.045422,-0.140062,0.989100]]
2025-10-27T15:01:19.121Z,1761577279.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:19.123Z,1761577279.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.20 m.
2025-10-27T15:01:19.126Z,1761577279.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.199158 m,
      nav range: 487.627686 m,
      bearing: 78.948908 deg,
      approach rate: -0.693415 m/s,
      LOS rate: 0.007616 deg/s,
      cmd heading: 77.984832 deg,
      new cmd heading: 77.992337 deg.

2025-10-27T15:01:19.147Z,1761577279.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361223 target range: 515.199158 and range: 517.20 m.
2025-10-27T15:01:19.193Z,1761577279.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511783
2025-10-27T15:01:19.444Z,1761577279.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762829
2025-10-27T15:01:19.603Z,1761577279.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.20 m.
2025-10-27T15:01:19.606Z,1761577279.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.199158 m,
      nav range: 487.309174 m,
      bearing: 78.952409 deg,
      approach rate: -0.669261 m/s,
      LOS rate: 0.007362 deg/s,
      cmd heading: 77.992339 deg,
      new cmd heading: 78.002849 deg.

2025-10-27T15:01:19.607Z,1761577279.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361407 target range: 515.199158 and range: 517.20 m.
2025-10-27T15:01:19.700Z,1761577279.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018531
2025-10-27T15:01:19.948Z,1761577279.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267112
2025-10-27T15:01:20.040Z,1761577280.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207846,-0.967063,-0.146934],[0.977471,0.210988,-0.005953],[0.036759,-0.142387,0.989128]]
2025-10-27T15:01:20.084Z,1761577280.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.20 m.
2025-10-27T15:01:20.086Z,1761577280.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.199158 m,
      nav range: 486.953888 m,
      bearing: 78.956463 deg,
      approach rate: -0.732679 m/s,
      LOS rate: 0.008365 deg/s,
      cmd heading: 78.002850 deg,
      new cmd heading: 78.015019 deg.

2025-10-27T15:01:20.088Z,1761577280.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361619 target range: 515.199158 and range: 517.20 m.
2025-10-27T15:01:20.204Z,1761577280.204 [DAT](INFO): DAT read: Rx Time:15:01:18.8640

2025-10-27T15:01:20.204Z,1761577280.204 [DAT](INFO): Rx dataTimestamp_ set to:1761577280.203990
2025-10-27T15:01:20.205Z,1761577280.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523754
2025-10-27T15:01:20.453Z,1761577280.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771539
2025-10-27T15:01:20.467Z,1761577280.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210098,-0.966556,-0.147066],[0.977145,0.212573,-0.001139],[0.032363,-0.143465,0.989126]]
2025-10-27T15:01:20.486Z,1761577280.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.20 m.
2025-10-27T15:01:20.489Z,1761577280.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.199158 m,
      nav range: 486.669678 m,
      bearing: 78.959785 deg,
      approach rate: -0.707075 m/s,
      LOS rate: 0.008270 deg/s,
      cmd heading: 78.015022 deg,
      new cmd heading: 78.024994 deg.

2025-10-27T15:01:20.489Z,1761577280.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361793 target range: 515.199158 and range: 517.20 m.
2025-10-27T15:01:20.704Z,1761577280.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022927
2025-10-27T15:01:20.940Z,1761577280.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211776,-0.966033,-0.148092],[0.976893,0.213709,0.002923],[0.028824,-0.145290,0.988969]]
2025-10-27T15:01:20.961Z,1761577280.961 [DAT](INFO): DAT read: 15:01:18.8640 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 392, 0.14,-1.480,-2.976,-1.176,-1.554, PHS= 0.176,-1.377, 0.333, RAW= 154.8,  10.6, CAL= 154.7,  11.6, ROT= 355.3, -11.6

2025-10-27T15:01:20.962Z,1761577280.962 [DAT](INFO): got valid direction response:
 15:01:18.8640 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 392, 0.14,-1.480,-2.976,-1.176,-1.554, PHS= 0.176,-1.377, 0.333, RAW= 154.8,  10.6, CAL= 154.7,  11.6, ROT= 355.3, -11.6

2025-10-27T15:01:20.963Z,1761577280.963 [DAT](INFO): DAT read: Bearing 239.4,  -3.9 (Local)

2025-10-27T15:01:20.964Z,1761577280.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.4,  -3.9 (Local)

2025-10-27T15:01:20.965Z,1761577280.965 [DAT](INFO): DAT read: Range 11 to 50 : 514.1 m  (Round-trip  685.5 ms) speed  0.5 m/s

2025-10-27T15:01:20.965Z,1761577280.965 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:20.966Z,1761577280.966 [DAT](INFO): direction in FSK: [0.976281,-0.080265,0.201078]
2025-10-27T15:01:20.967Z,1761577280.967 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:20.970Z,1761577280.970 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:20.970Z,1761577280.970 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:20.970Z,1761577280.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:21.077Z,1761577281.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 514.099976 m,
      deltaT: 4.534174 s,
      deltaX: -3.100037 m,
      approachRate: -0.683705 m/s,
      rangeRepo size: 4

2025-10-27T15:01:21.079Z,1761577281.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 512.071716 m,
      bearing: 74.806059 deg,
      lat: 36.778914 deg,
      lon: -121.859606 deg,
      deltaT: 4.534174 s,
      deltaX: -3.127441 m,
      approachRate: -0.689749 m/s,
      posRepo size: 4

2025-10-27T15:01:21.084Z,1761577281.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.07 m.
2025-10-27T15:01:21.086Z,1761577281.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 512.071716 m,
      nav range: 491.920837 m,
      bearing: 77.299839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008270 deg/s,
      cmd heading: 78.024994 deg,
      new cmd heading: 78.039637 deg.

2025-10-27T15:01:21.091Z,1761577281.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362049 target range: 512.071716 and range: 514.10 m.
2025-10-27T15:01:21.208Z,1761577281.208 [DAT](INFO): DAT read: user:854>

2025-10-27T15:01:21.209Z,1761577281.209 [DAT](INFO): DAT read: Tx time:15:01:20.2244

2025-10-27T15:01:21.209Z,1761577281.209 [DAT](INFO): Ping request sent.
2025-10-27T15:01:21.209Z,1761577281.209 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:21.210Z,1761577281.210 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:21.210Z,1761577281.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-27T15:01:21.460Z,1761577281.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250686
2025-10-27T15:01:21.509Z,1761577281.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:21.512Z,1761577281.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.07 m.
2025-10-27T15:01:21.514Z,1761577281.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 512.071716 m,
      nav range: 491.586365 m,
      bearing: 77.302138 deg,
      approach rate: -0.767312 m/s,
      LOS rate: 0.005278 deg/s,
      cmd heading: 78.039638 deg,
      new cmd heading: 78.046540 deg.

2025-10-27T15:01:21.532Z,1761577281.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362169 target range: 512.071716 and range: 514.10 m.
2025-10-27T15:01:21.715Z,1761577281.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504988
2025-10-27T15:01:21.891Z,1761577281.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215528,-0.964910,-0.149991],[0.976232,0.216498,0.010030],[0.022795,-0.148587,0.988637]]
2025-10-27T15:01:21.964Z,1761577281.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754583
2025-10-27T15:01:21.968Z,1761577281.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.07 m.
2025-10-27T15:01:21.971Z,1761577281.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 512.071716 m,
      nav range: 491.252258 m,
      bearing: 77.303934 deg,
      approach rate: -0.732352 m/s,
      LOS rate: 0.003938 deg/s,
      cmd heading: 78.046543 deg,
      new cmd heading: 78.051932 deg.

2025-10-27T15:01:21.976Z,1761577281.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362263 target range: 512.071716 and range: 514.10 m.
2025-10-27T15:01:22.217Z,1761577282.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007331
2025-10-27T15:01:22.303Z,1761577282.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216132,-0.964739,-0.150218],[0.976110,0.217013,0.010698],[0.022278,-0.148941,0.988595]]
2025-10-27T15:01:22.338Z,1761577282.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.07 m.
2025-10-27T15:01:22.341Z,1761577282.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 512.071716 m,
      nav range: 490.965820 m,
      bearing: 77.305495 deg,
      approach rate: -0.774289 m/s,
      LOS rate: 0.004222 deg/s,
      cmd heading: 78.051932 deg,
      new cmd heading: 78.056618 deg.

2025-10-27T15:01:22.342Z,1761577282.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362345 target range: 512.071716 and range: 514.10 m.
2025-10-27T15:01:22.468Z,1761577282.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258568
2025-10-27T15:01:22.706Z,1761577282.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216415,-0.964536,-0.151111],[0.976050,0.217262,0.011088],[0.022136,-0.149892,0.988455]]
2025-10-27T15:01:22.724Z,1761577282.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514517
2025-10-27T15:01:22.738Z,1761577282.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.07 m.
2025-10-27T15:01:22.774Z,1761577282.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 512.071716 m,
      nav range: 490.666626 m,
      bearing: 77.307135 deg,
      approach rate: -0.750732 m/s,
      LOS rate: 0.004119 deg/s,
      cmd heading: 78.056618 deg,
      new cmd heading: 78.061543 deg.

2025-10-27T15:01:22.783Z,1761577282.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362431 target range: 512.071716 and range: 514.10 m.
2025-10-27T15:01:22.972Z,1761577282.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762516
2025-10-27T15:01:23.112Z,1761577283.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216703,-0.964105,-0.153432],[0.975987,0.217513,0.011690],[0.022103,-0.152281,0.988090]]
2025-10-27T15:01:23.160Z,1761577283.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.07 m.
2025-10-27T15:01:23.163Z,1761577283.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 512.071716 m,
      nav range: 490.328613 m,
      bearing: 77.308580 deg,
      approach rate: -0.797666 m/s,
      LOS rate: 0.003413 deg/s,
      cmd heading: 78.061542 deg,
      new cmd heading: 78.065881 deg.

2025-10-27T15:01:23.164Z,1761577283.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362507 target range: 512.071716 and range: 514.10 m.
2025-10-27T15:01:23.224Z,1761577283.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014665
2025-10-27T15:01:23.476Z,1761577283.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266592
2025-10-27T15:01:23.578Z,1761577283.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216696,-0.964006,-0.154066],[0.975982,0.217543,0.011547],[0.022384,-0.152868,0.987993]]
2025-10-27T15:01:23.600Z,1761577283.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:23.602Z,1761577283.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.07 m.
2025-10-27T15:01:23.617Z,1761577283.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 512.071716 m,
      nav range: 489.989441 m,
      bearing: 77.310031 deg,
      approach rate: -0.767841 m/s,
      LOS rate: 0.003286 deg/s,
      cmd heading: 78.065879 deg,
      new cmd heading: 78.070234 deg.

2025-10-27T15:01:23.618Z,1761577283.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362583 target range: 512.071716 and range: 514.10 m.
2025-10-27T15:01:23.729Z,1761577283.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519466
2025-10-27T15:01:23.981Z,1761577283.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771697
2025-10-27T15:01:24.072Z,1761577284.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215829,-0.964301,-0.153430],[0.976154,0.216834,0.010356],[0.023282,-0.152007,0.988105]]
2025-10-27T15:01:24.121Z,1761577284.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.07 m.
2025-10-27T15:01:24.123Z,1761577284.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 512.071716 m,
      nav range: 489.570404 m,
      bearing: 77.310197 deg,
      approach rate: -0.807947 m/s,
      LOS rate: 0.000320 deg/s,
      cmd heading: 78.070237 deg,
      new cmd heading: 78.070735 deg.

2025-10-27T15:01:24.124Z,1761577284.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362591 target range: 512.071716 and range: 514.10 m.
2025-10-27T15:01:24.232Z,1761577284.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022842
2025-10-27T15:01:24.478Z,1761577284.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214699,-0.964489,-0.153838],[0.976376,0.215887,0.009144],[0.024393,-0.152167,0.988054]]
2025-10-27T15:01:24.484Z,1761577284.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274691
2025-10-27T15:01:24.498Z,1761577284.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.07 m.
2025-10-27T15:01:24.501Z,1761577284.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 512.071716 m,
      nav range: 489.267303 m,
      bearing: 77.310276 deg,
      approach rate: -0.803022 m/s,
      LOS rate: 0.000209 deg/s,
      cmd heading: 78.070736 deg,
      new cmd heading: 78.070973 deg.

2025-10-27T15:01:24.502Z,1761577284.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362596 target range: 512.071716 and range: 514.10 m.
2025-10-27T15:01:24.737Z,1761577284.737 [DAT](INFO): DAT read: Rx Time:15:01:23.3094

2025-10-27T15:01:24.737Z,1761577284.737 [DAT](INFO): Rx dataTimestamp_ set to:1761577284.736975
2025-10-27T15:01:24.738Z,1761577284.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528802
2025-10-27T15:01:24.882Z,1761577284.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213746,-0.964607,-0.154423],[0.976560,0.215095,0.008118],[0.025384,-0.152538,0.987972]]
2025-10-27T15:01:24.944Z,1761577284.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.07 m.
2025-10-27T15:01:24.948Z,1761577284.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 512.071716 m,
      nav range: 488.898865 m,
      bearing: 77.309593 deg,
      approach rate: -0.825650 m/s,
      LOS rate: -0.001531 deg/s,
      cmd heading: 78.070975 deg,
      new cmd heading: 78.068924 deg.

2025-10-27T15:01:24.949Z,1761577284.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362560 target range: 512.071716 and range: 514.10 m.
2025-10-27T15:01:24.989Z,1761577284.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779043
2025-10-27T15:01:25.245Z,1761577285.245 [DAT](INFO): DAT read: 15:01:23.3094 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 393, 0.09,-1.474,-3.000,-1.156,-1.535, PHS= 0.163,-1.420, 0.335, RAW= 155.1,  11.0, CAL= 155.1,  12.1, ROT= 354.9, -12.1

2025-10-27T15:01:25.246Z,1761577285.246 [DAT](INFO): got valid direction response:
 15:01:23.3094 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 393, 0.09,-1.474,-3.000,-1.156,-1.535, PHS= 0.163,-1.420, 0.335, RAW= 155.1,  11.0, CAL= 155.1,  12.1, ROT= 354.9, -12.1

2025-10-27T15:01:25.250Z,1761577285.250 [DAT](INFO): DAT read: Bearing 240.0,  -5.3 (Local)

2025-10-27T15:01:25.251Z,1761577285.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.0,  -5.3 (Local)

2025-10-27T15:01:25.287Z,1761577285.287 [DAT](INFO): DAT read: Range 11 to 50 : 510.6 m  (Round-trip  680.9 ms) speed  0.8 m/s

2025-10-27T15:01:25.288Z,1761577285.288 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:25.289Z,1761577285.289 [DAT](INFO): direction in FSK: [0.973912,-0.086920,0.209619]
2025-10-27T15:01:25.289Z,1761577285.289 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:25.299Z,1761577285.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212894,-0.964791,-0.154450],[0.976713,0.214443,0.006761],[0.026598,-0.152293,0.987977]]
2025-10-27T15:01:25.317Z,1761577285.317 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:25.317Z,1761577285.317 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:25.317Z,1761577285.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:25.482Z,1761577285.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 510.600006 m,
      deltaT: 4.284088 s,
      deltaX: -3.499969 m,
      approachRate: -0.816970 m/s,
      rangeRepo size: 4

2025-10-27T15:01:25.485Z,1761577285.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 508.576843 m,
      bearing: 74.511401 deg,
      lat: 36.779094 deg,
      lon: -121.859606 deg,
      deltaT: 4.284088 s,
      deltaX: -3.494873 m,
      approachRate: -0.815780 m/s,
      posRepo size: 4

2025-10-27T15:01:25.485Z,1761577285.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:25.488Z,1761577285.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 493.235992 m,
      bearing: 75.042394 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001531 deg/s,
      cmd heading: 78.068926 deg,
      new cmd heading: 78.066458 deg.

2025-10-27T15:01:25.489Z,1761577285.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362517 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:25.492Z,1761577285.492 [DAT](INFO): DAT read: user:855>

2025-10-27T15:01:25.493Z,1761577285.493 [DAT](INFO): DAT read: Tx time:15:01:24.5744

2025-10-27T15:01:25.493Z,1761577285.493 [DAT](INFO): Ping request sent.
2025-10-27T15:01:25.493Z,1761577285.493 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:25.493Z,1761577285.493 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:25.494Z,1761577285.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-27T15:01:25.745Z,1761577285.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251391
2025-10-27T15:01:25.842Z,1761577285.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210414,-0.965381,-0.154160],[0.977174,0.212412,0.003585],[0.029285,-0.151395,0.988039]]
2025-10-27T15:01:25.886Z,1761577285.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:25.907Z,1761577285.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:25.920Z,1761577285.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 492.897644 m,
      bearing: 75.039819 deg,
      approach rate: -0.796926 m/s,
      LOS rate: -0.006070 deg/s,
      cmd heading: 78.066460 deg,
      new cmd heading: 78.058729 deg.

2025-10-27T15:01:25.921Z,1761577285.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362382 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:25.996Z,1761577285.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503073
2025-10-27T15:01:26.224Z,1761577286.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209236,-0.965601,-0.154387],[0.977384,0.211463,0.002037],[0.030680,-0.151322,0.988008]]
2025-10-27T15:01:26.248Z,1761577286.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754591
2025-10-27T15:01:26.265Z,1761577286.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:26.268Z,1761577286.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 492.583649 m,
      bearing: 75.037382 deg,
      approach rate: -0.875329 m/s,
      LOS rate: -0.006797 deg/s,
      cmd heading: 78.058728 deg,
      new cmd heading: 78.051413 deg.

2025-10-27T15:01:26.269Z,1761577286.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362254 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:26.500Z,1761577286.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006834
2025-10-27T15:01:26.626Z,1761577286.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207746,-0.966024,-0.153750],[0.977643,0.210271,-0.000169],[0.032492,-0.150278,0.988110]]
2025-10-27T15:01:26.668Z,1761577286.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:26.670Z,1761577286.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 492.249725 m,
      bearing: 75.034729 deg,
      approach rate: -0.828049 m/s,
      LOS rate: -0.006583 deg/s,
      cmd heading: 78.051413 deg,
      new cmd heading: 78.043449 deg.

2025-10-27T15:01:26.672Z,1761577286.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362115 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:26.753Z,1761577286.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259981
2025-10-27T15:01:27.004Z,1761577287.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510776
2025-10-27T15:01:27.030Z,1761577287.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206381,-0.966319,-0.153734],[0.977884,0.209141,-0.001825],[0.033915,-0.149957,0.988111]]
2025-10-27T15:01:27.036Z,1761577287.036 [BPC1](FAULT): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T15:01:27.037Z,1761577287.037 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T15:01:27.038Z,1761577287.038 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T15:01:27.039Z,1761577287.039 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.
2025-10-27T15:01:27.040Z,1761577287.040 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T15:01:27.040Z,1761577287.040 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T15:01:27.041Z,1761577287.041 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T15:01:27.042Z,1761577287.042 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T15:01:27.043Z,1761577287.043 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-10-27T15:01:27.044Z,1761577287.044 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T15:01:27.044Z,1761577287.044 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T15:01:27.045Z,1761577287.045 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T15:01:27.046Z,1761577287.046 [BPC1](INFO): Calculating totals. Valid battery stick count: 17. Valid reserve battery stick count: 1.
2025-10-27T15:01:27.079Z,1761577287.079 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 36, 37, 38, 39, 44, 47, 54, 58, 62.
2025-10-27T15:01:27.159Z,1761577287.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:27.162Z,1761577287.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 491.862122 m,
      bearing: 75.031735 deg,
      approach rate: -0.795708 m/s,
      LOS rate: -0.006152 deg/s,
      cmd heading: 78.043449 deg,
      new cmd heading: 78.034459 deg.

2025-10-27T15:01:27.167Z,1761577287.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361958 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:27.256Z,1761577287.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762994
2025-10-27T15:01:27.496Z,1761577287.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205037,-0.966563,-0.153999],[0.978108,0.208067,-0.003648],[0.035568,-0.149880,0.988064]]
2025-10-27T15:01:27.508Z,1761577287.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014955
2025-10-27T15:01:27.516Z,1761577287.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:27.519Z,1761577287.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 491.558899 m,
      bearing: 75.029341 deg,
      approach rate: -0.840164 m/s,
      LOS rate: -0.006637 deg/s,
      cmd heading: 78.034460 deg,
      new cmd heading: 78.027274 deg.

2025-10-27T15:01:27.520Z,1761577287.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361833 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:27.761Z,1761577287.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267503
2025-10-27T15:01:28.012Z,1761577288.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518819
2025-10-27T15:01:28.054Z,1761577288.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:28.056Z,1761577288.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:28.075Z,1761577288.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 491.125885 m,
      bearing: 75.026465 deg,
      approach rate: -0.801031 m/s,
      LOS rate: -0.005326 deg/s,
      cmd heading: 78.027275 deg,
      new cmd heading: 78.018638 deg.

2025-10-27T15:01:28.076Z,1761577288.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361682 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:28.264Z,1761577288.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770747
2025-10-27T15:01:28.418Z,1761577288.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202328,-0.966995,-0.154870],[0.978538,0.205931,-0.007415],[0.039062,-0.150046,0.987907]]
2025-10-27T15:01:28.446Z,1761577288.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:28.449Z,1761577288.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 490.815765 m,
      bearing: 75.024302 deg,
      approach rate: -0.796596 m/s,
      LOS rate: -0.005559 deg/s,
      cmd heading: 78.018635 deg,
      new cmd heading: 78.012142 deg.

2025-10-27T15:01:28.450Z,1761577288.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361569 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:28.516Z,1761577288.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022915
2025-10-27T15:01:28.768Z,1761577288.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274733
2025-10-27T15:01:28.909Z,1761577288.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201004,-0.967260,-0.154938],[0.978730,0.204928,-0.009613],[0.041050,-0.149710,0.987878]]
2025-10-27T15:01:28.967Z,1761577288.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:28.970Z,1761577288.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 490.428375 m,
      bearing: 75.022737 deg,
      approach rate: -0.749343 m/s,
      LOS rate: -0.003029 deg/s,
      cmd heading: 78.012139 deg,
      new cmd heading: 78.007442 deg.

2025-10-27T15:01:28.976Z,1761577288.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361487 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:29.021Z,1761577289.021 [DAT](INFO): DAT read: Rx Time:15:01:27.6548

2025-10-27T15:01:29.022Z,1761577289.022 [DAT](INFO): Rx dataTimestamp_ set to:1761577289.021487
2025-10-27T15:01:29.023Z,1761577289.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529559
2025-10-27T15:01:29.272Z,1761577289.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778818
2025-10-27T15:01:29.283Z,1761577289.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199677,-0.967323,-0.156256],[0.978883,0.204051,-0.012304],[0.043786,-0.150499,0.987640]]
2025-10-27T15:01:29.301Z,1761577289.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:29.304Z,1761577289.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 490.155029 m,
      bearing: 75.021590 deg,
      approach rate: -0.807381 m/s,
      LOS rate: -0.003391 deg/s,
      cmd heading: 78.007440 deg,
      new cmd heading: 78.003996 deg.

2025-10-27T15:01:29.305Z,1761577289.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361427 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:29.526Z,1761577289.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032694
2025-10-27T15:01:29.686Z,1761577289.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198012,-0.967293,-0.158545],[0.979065,0.202959,-0.015484],[0.047155,-0.152160,0.987230]]
2025-10-27T15:01:29.720Z,1761577289.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.58 m.
2025-10-27T15:01:29.724Z,1761577289.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 508.576843 m,
      nav range: 489.845062 m,
      bearing: 75.020228 deg,
      approach rate: -0.740623 m/s,
      LOS rate: -0.003257 deg/s,
      cmd heading: 78.003998 deg,
      new cmd heading: 77.999909 deg.

2025-10-27T15:01:29.726Z,1761577289.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361355 target range: 508.576843 and range: 510.60 m.
2025-10-27T15:01:29.783Z,1761577289.783 [DAT](INFO): DAT read: 15:01:27.6548 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 394,-0.04, 2.029, 0.502, 2.344, 2.023, PHS= 0.108,-1.477, 0.277, RAW= 155.0,  13.0, CAL= 155.3,  14.6, ROT= 354.7, -14.6

2025-10-27T15:01:29.784Z,1761577289.784 [DAT](INFO): got valid direction response:
 15:01:27.6548 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 394,-0.04, 2.029, 0.502, 2.344, 2.023, PHS= 0.108,-1.477, 0.277, RAW= 155.0,  13.0, CAL= 155.3,  14.6, ROT= 354.7, -14.6

2025-10-27T15:01:29.785Z,1761577289.785 [DAT](INFO): DAT read: Bearing 243.1,  -5.1 (Local)

2025-10-27T15:01:29.785Z,1761577289.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.1,  -5.1 (Local)

2025-10-27T15:01:29.787Z,1761577289.787 [DAT](INFO): DAT read: Range 11 to 50 : 507.2 m  (Round-trip  676.3 ms) speed  0.4 m/s

2025-10-27T15:01:29.789Z,1761577289.789 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:29.790Z,1761577289.790 [DAT](INFO): direction in FSK: [0.963572,-0.089388,0.252069]
2025-10-27T15:01:29.790Z,1761577289.790 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:29.797Z,1761577289.797 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:29.797Z,1761577289.797 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:29.797Z,1761577289.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:30.028Z,1761577290.028 [DAT](INFO): DAT read: user:856>

2025-10-27T15:01:30.029Z,1761577290.029 [DAT](INFO): DAT read: Tx time:15:01:29.0744

2025-10-27T15:01:30.029Z,1761577290.029 [DAT](INFO): Ping request sent.
2025-10-27T15:01:30.029Z,1761577290.029 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:30.029Z,1761577290.029 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:30.030Z,1761577290.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-27T15:01:30.097Z,1761577290.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196086,-0.967469,-0.159859],[0.979274,0.201636,-0.019107],[0.050718,-0.152799,0.986955]]
2025-10-27T15:01:30.194Z,1761577290.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 507.200012 m,
      deltaT: 4.537669 s,
      deltaX: -3.399994 m,
      approachRate: -0.749282 m/s,
      rangeRepo size: 4

2025-10-27T15:01:30.201Z,1761577290.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 505.178589 m,
      bearing: 75.674957 deg,
      lat: 36.779094 deg,
      lon: -121.859623 deg,
      deltaT: 4.537669 s,
      deltaX: -3.398254 m,
      approachRate: -0.748899 m/s,
      posRepo size: 4

2025-10-27T15:01:30.201Z,1761577290.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.18 m.
2025-10-27T15:01:30.210Z,1761577290.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.178589 m,
      nav range: 488.034882 m,
      bearing: 74.973986 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003257 deg/s,
      cmd heading: 77.999907 deg,
      new cmd heading: 77.995278 deg.

2025-10-27T15:01:30.216Z,1761577290.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361274 target range: 505.178589 and range: 507.20 m.
2025-10-27T15:01:30.281Z,1761577290.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251673
2025-10-27T15:01:30.507Z,1761577290.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194163,-0.967754,-0.160477],[0.979469,0.200299,-0.022830],[0.054237,-0.152749,0.986776]]
2025-10-27T15:01:30.523Z,1761577290.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:30.525Z,1761577290.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.18 m.
2025-10-27T15:01:30.528Z,1761577290.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.178589 m,
      nav range: 487.780304 m,
      bearing: 74.973690 deg,
      approach rate: -0.767017 m/s,
      LOS rate: -0.000890 deg/s,
      cmd heading: 77.995276 deg,
      new cmd heading: 77.994390 deg.

2025-10-27T15:01:30.529Z,1761577290.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361259 target range: 505.178589 and range: 507.20 m.
2025-10-27T15:01:30.532Z,1761577290.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502937
2025-10-27T15:01:30.784Z,1761577290.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754695
2025-10-27T15:01:30.929Z,1761577290.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192767,-0.967938,-0.161049],[0.979543,0.199486,-0.026491],[0.057769,-0.152648,0.986591]]
2025-10-27T15:01:30.971Z,1761577290.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.18 m.
2025-10-27T15:01:30.974Z,1761577290.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.178589 m,
      nav range: 487.470398 m,
      bearing: 74.974544 deg,
      approach rate: -0.695738 m/s,
      LOS rate: 0.001918 deg/s,
      cmd heading: 77.994388 deg,
      new cmd heading: 77.996951 deg.

2025-10-27T15:01:30.975Z,1761577290.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361304 target range: 505.178589 and range: 507.20 m.
2025-10-27T15:01:31.036Z,1761577291.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006926
2025-10-27T15:01:31.288Z,1761577291.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258819
2025-10-27T15:01:31.314Z,1761577291.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192084,-0.967776,-0.162828],[0.979459,0.199423,-0.029836],[0.061346,-0.153753,0.986203]]
2025-10-27T15:01:31.353Z,1761577291.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.18 m.
2025-10-27T15:01:31.360Z,1761577291.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.178589 m,
      nav range: 487.210480 m,
      bearing: 74.975243 deg,
      approach rate: -0.680762 m/s,
      LOS rate: 0.001831 deg/s,
      cmd heading: 77.996949 deg,
      new cmd heading: 77.999046 deg.

2025-10-27T15:01:31.361Z,1761577291.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361340 target range: 505.178589 and range: 507.20 m.
2025-10-27T15:01:31.540Z,1761577291.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510737
2025-10-27T15:01:31.762Z,1761577291.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.18 m.
2025-10-27T15:01:31.764Z,1761577291.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.178589 m,
      nav range: 486.921234 m,
      bearing: 74.976021 deg,
      approach rate: -0.707363 m/s,
      LOS rate: 0.001905 deg/s,
      cmd heading: 77.999046 deg,
      new cmd heading: 78.001383 deg.

2025-10-27T15:01:31.765Z,1761577291.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361381 target range: 505.178589 and range: 507.20 m.
2025-10-27T15:01:31.792Z,1761577291.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762862
2025-10-27T15:01:32.044Z,1761577292.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014798
2025-10-27T15:01:32.130Z,1761577292.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192519,-0.967195,-0.165740],[0.978896,0.201087,-0.036411],[0.068545,-0.155233,0.985497]]
2025-10-27T15:01:32.181Z,1761577292.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.18 m.
2025-10-27T15:01:32.188Z,1761577292.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.178589 m,
      nav range: 486.654022 m,
      bearing: 74.978095 deg,
      approach rate: -0.636649 m/s,
      LOS rate: 0.004942 deg/s,
      cmd heading: 78.001382 deg,
      new cmd heading: 78.007605 deg.

2025-10-27T15:01:32.189Z,1761577292.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361490 target range: 505.178589 and range: 507.20 m.
2025-10-27T15:01:32.297Z,1761577292.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267779
2025-10-27T15:01:32.530Z,1761577292.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193086,-0.966845,-0.167118],[0.978531,0.202263,-0.039592],[0.072081,-0.155885,0.985142]]
2025-10-27T15:01:32.546Z,1761577292.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:32.548Z,1761577292.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518894
2025-10-27T15:01:32.565Z,1761577292.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.18 m.
2025-10-27T15:01:32.568Z,1761577292.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.178589 m,
      nav range: 486.401550 m,
      bearing: 74.980076 deg,
      approach rate: -0.658649 m/s,
      LOS rate: 0.005171 deg/s,
      cmd heading: 78.007604 deg,
      new cmd heading: 78.013551 deg.

2025-10-27T15:01:32.569Z,1761577292.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361593 target range: 505.178589 and range: 507.20 m.
2025-10-27T15:01:32.800Z,1761577292.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770972
2025-10-27T15:01:32.956Z,1761577292.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194072,-0.966463,-0.168182],[0.978067,0.203847,-0.042783],[0.075631,-0.156190,0.984827]]
2025-10-27T15:01:33.000Z,1761577293.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.18 m.
2025-10-27T15:01:33.003Z,1761577293.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.178589 m,
      nav range: 486.111023 m,
      bearing: 74.983198 deg,
      approach rate: -0.666627 m/s,
      LOS rate: 0.007168 deg/s,
      cmd heading: 78.013553 deg,
      new cmd heading: 78.022925 deg.

2025-10-27T15:01:33.004Z,1761577293.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361757 target range: 505.178589 and range: 507.20 m.
2025-10-27T15:01:33.052Z,1761577293.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023021
2025-10-27T15:01:33.304Z,1761577293.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274806
2025-10-27T15:01:33.338Z,1761577293.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195612,-0.965744,-0.170515],[0.977486,0.206029,-0.045526],[0.079098,-0.157771,0.984303]]
2025-10-27T15:01:33.368Z,1761577293.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.18 m.
2025-10-27T15:01:33.377Z,1761577293.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.178589 m,
      nav range: 485.883118 m,
      bearing: 74.985695 deg,
      approach rate: -0.620345 m/s,
      LOS rate: 0.006799 deg/s,
      cmd heading: 78.022924 deg,
      new cmd heading: 78.030418 deg.

2025-10-27T15:01:33.383Z,1761577293.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361888 target range: 505.178589 and range: 507.20 m.
2025-10-27T15:01:33.556Z,1761577293.556 [DAT](INFO): DAT read: Rx Time:15:01:32.1505

2025-10-27T15:01:33.556Z,1761577293.556 [DAT](INFO): Rx dataTimestamp_ set to:1761577293.556167
2025-10-27T15:01:33.557Z,1761577293.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527889
2025-10-27T15:01:33.760Z,1761577293.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197482,-0.965006,-0.172524],[0.976829,0.208520,-0.048204],[0.082492,-0.159007,0.983825]]
2025-10-27T15:01:33.799Z,1761577293.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.18 m.
2025-10-27T15:01:33.802Z,1761577293.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.178589 m,
      nav range: 485.601593 m,
      bearing: 74.988849 deg,
      approach rate: -0.653203 m/s,
      LOS rate: 0.007323 deg/s,
      cmd heading: 78.030417 deg,
      new cmd heading: 78.039886 deg.

2025-10-27T15:01:33.803Z,1761577293.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362053 target range: 505.178589 and range: 507.20 m.
2025-10-27T15:01:33.808Z,1761577293.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778861
2025-10-27T15:01:34.065Z,1761577294.065 [DAT](INFO): DAT read: 15:01:32.1505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 398, 0.07, 2.528, 1.058, 2.833, 2.433, PHS= 0.197,-1.330, 0.356, RAW= 154.9,   9.7, CAL= 154.6,  10.4, ROT= 355.4, -10.4

2025-10-27T15:01:34.066Z,1761577294.066 [DAT](INFO): got valid direction response:
 15:01:32.1505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 398, 0.07, 2.528, 1.058, 2.833, 2.433, PHS= 0.197,-1.330, 0.356, RAW= 154.9,   9.7, CAL= 154.6,  10.4, ROT= 355.4, -10.4

2025-10-27T15:01:34.067Z,1761577294.067 [DAT](INFO): DAT read: Bearing 238.4,  -1.5 (Local)

2025-10-27T15:01:34.068Z,1761577294.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.4,  -1.5 (Local)

2025-10-27T15:01:34.069Z,1761577294.069 [DAT](INFO): DAT read: Range 11 to 50 : 504.0 m  (Round-trip  672.0 ms) speed  0.5 m/s

2025-10-27T15:01:34.069Z,1761577294.069 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:34.070Z,1761577294.070 [DAT](INFO): direction in FSK: [0.980403,-0.078882,0.180519]
2025-10-27T15:01:34.071Z,1761577294.071 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:34.075Z,1761577294.075 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:34.075Z,1761577294.075 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:34.075Z,1761577294.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:34.154Z,1761577294.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200045,-0.964198,-0.174081],[0.976044,0.211625,-0.050527],[0.085558,-0.159803,0.983434]]
2025-10-27T15:01:34.256Z,1761577294.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 504.000000 m,
      deltaT: 4.282291 s,
      deltaX: -3.200012 m,
      approachRate: -0.747266 m/s,
      rangeRepo size: 4

2025-10-27T15:01:34.258Z,1761577294.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 501.980347 m,
      bearing: 75.502420 deg,
      lat: 36.779094 deg,
      lon: -121.859638 deg,
      deltaT: 4.282291 s,
      deltaX: -3.198242 m,
      approachRate: -0.746853 m/s,
      posRepo size: 4

2025-10-27T15:01:34.259Z,1761577294.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:34.265Z,1761577294.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 483.989655 m,
      bearing: 74.949775 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007323 deg/s,
      cmd heading: 78.039884 deg,
      new cmd heading: 78.049815 deg.

2025-10-27T15:01:34.266Z,1761577294.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362226 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:34.313Z,1761577294.313 [DAT](INFO): DAT read: user:857>

2025-10-27T15:01:34.314Z,1761577294.314 [DAT](INFO): DAT read: Tx time:15:01:33.3244

2025-10-27T15:01:34.315Z,1761577294.315 [DAT](INFO): Ping request sent.
2025-10-27T15:01:34.315Z,1761577294.315 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:34.315Z,1761577294.315 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:34.316Z,1761577294.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001203
2025-10-27T15:01:34.564Z,1761577294.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249151
2025-10-27T15:01:34.585Z,1761577294.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:34.607Z,1761577294.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:34.610Z,1761577294.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 483.767700 m,
      bearing: 74.952406 deg,
      approach rate: -0.622472 m/s,
      LOS rate: 0.007382 deg/s,
      cmd heading: 78.049815 deg,
      new cmd heading: 78.057711 deg.

2025-10-27T15:01:34.617Z,1761577294.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362364 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:34.816Z,1761577294.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501240
2025-10-27T15:01:34.992Z,1761577294.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205531,-0.962312,-0.178080],[0.974339,0.218271,-0.054961],[0.091759,-0.162214,0.982480]]
2025-10-27T15:01:35.050Z,1761577295.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:35.057Z,1761577295.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 483.474884 m,
      bearing: 74.954592 deg,
      approach rate: -0.661933 m/s,
      LOS rate: 0.004945 deg/s,
      cmd heading: 78.057710 deg,
      new cmd heading: 78.064273 deg.

2025-10-27T15:01:35.058Z,1761577295.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362479 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:35.068Z,1761577295.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753408
2025-10-27T15:01:35.320Z,1761577295.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005107
2025-10-27T15:01:35.358Z,1761577295.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208350,-0.961353,-0.179971],[0.973452,0.221658,-0.057083],[0.094769,-0.163300,0.982014]]
2025-10-27T15:01:35.413Z,1761577295.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:35.420Z,1761577295.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 483.228058 m,
      bearing: 74.956522 deg,
      approach rate: -0.680440 m/s,
      LOS rate: 0.005323 deg/s,
      cmd heading: 78.064274 deg,
      new cmd heading: 78.070067 deg.

2025-10-27T15:01:35.421Z,1761577295.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362580 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:35.572Z,1761577295.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257210
2025-10-27T15:01:35.767Z,1761577295.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211236,-0.960477,-0.181284],[0.972543,0.225066,-0.059212],[0.097673,-0.163798,0.981647]]
2025-10-27T15:01:35.785Z,1761577295.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:35.788Z,1761577295.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 482.983124 m,
      bearing: 74.958527 deg,
      approach rate: -0.657255 m/s,
      LOS rate: 0.005384 deg/s,
      cmd heading: 78.070066 deg,
      new cmd heading: 78.076085 deg.

2025-10-27T15:01:35.789Z,1761577295.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362685 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:35.825Z,1761577295.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509739
2025-10-27T15:01:36.076Z,1761577296.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761203
2025-10-27T15:01:36.170Z,1761577296.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213908,-0.959542,-0.183092],[0.971647,0.228324,-0.061407],[0.100727,-0.164765,0.981176]]
2025-10-27T15:01:36.238Z,1761577296.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:36.245Z,1761577296.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 482.682068 m,
      bearing: 74.958255 deg,
      approach rate: -0.664380 m/s,
      LOS rate: -0.000601 deg/s,
      cmd heading: 78.076084 deg,
      new cmd heading: 78.075267 deg.

2025-10-27T15:01:36.246Z,1761577296.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362670 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:36.329Z,1761577296.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014172
2025-10-27T15:01:36.520Z,1761577296.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:01:36.580Z,1761577296.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265233
2025-10-27T15:01:36.625Z,1761577296.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:36.631Z,1761577296.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:36.634Z,1761577296.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 482.412048 m,
      bearing: 74.958010 deg,
      approach rate: -0.695251 m/s,
      LOS rate: -0.000630 deg/s,
      cmd heading: 78.075264 deg,
      new cmd heading: 78.074531 deg.

2025-10-27T15:01:36.634Z,1761577296.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362658 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:36.836Z,1761577296.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520907
2025-10-27T15:01:37.012Z,1761577297.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217882,-0.958046,-0.186211],[0.970121,0.233463,-0.066035],[0.106738,-0.166260,0.980288]]
2025-10-27T15:01:37.070Z,1761577297.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:37.076Z,1761577297.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 482.074249 m,
      bearing: 74.955799 deg,
      approach rate: -0.762783 m/s,
      LOS rate: -0.004998 deg/s,
      cmd heading: 78.074533 deg,
      new cmd heading: 78.067893 deg.

2025-10-27T15:01:37.077Z,1761577297.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362542 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:37.084Z,1761577297.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769530
2025-10-27T15:01:37.336Z,1761577297.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021281
2025-10-27T15:01:37.412Z,1761577297.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219217,-0.957537,-0.187261],[0.969487,0.235361,-0.068558],[0.109721,-0.166518,0.979915]]
2025-10-27T15:01:37.454Z,1761577297.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:37.457Z,1761577297.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 481.785400 m,
      bearing: 74.953953 deg,
      approach rate: -0.756991 m/s,
      LOS rate: -0.004840 deg/s,
      cmd heading: 78.067894 deg,
      new cmd heading: 78.062353 deg.

2025-10-27T15:01:37.458Z,1761577297.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362445 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:37.523Z,1761577297.523 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:01:37.588Z,1761577297.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273167
2025-10-27T15:01:37.813Z,1761577297.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219564,-0.957472,-0.187186],[0.969043,0.236241,-0.071729],[0.112899,-0.165642,0.979702]]
2025-10-27T15:01:37.836Z,1761577297.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:37.840Z,1761577297.840 [DAT](INFO): DAT read: Rx Time:15:01:36.3964

2025-10-27T15:01:37.841Z,1761577297.841 [DAT](INFO): Rx dataTimestamp_ set to:1761577297.840268
2025-10-27T15:01:37.841Z,1761577297.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526459
2025-10-27T15:01:37.842Z,1761577297.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 481.482117 m,
      bearing: 74.952032 deg,
      approach rate: -0.787226 m/s,
      LOS rate: -0.004988 deg/s,
      cmd heading: 78.062355 deg,
      new cmd heading: 78.056590 deg.

2025-10-27T15:01:37.843Z,1761577297.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362345 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:38.092Z,1761577298.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777227
2025-10-27T15:01:38.224Z,1761577298.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219046,-0.957498,-0.187662],[0.968792,0.236301,-0.074856],[0.116019,-0.165409,0.979377]]
2025-10-27T15:01:38.316Z,1761577298.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.98 m.
2025-10-27T15:01:38.319Z,1761577298.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 501.980347 m,
      nav range: 481.115997 m,
      bearing: 74.948395 deg,
      approach rate: -0.763377 m/s,
      LOS rate: -0.007590 deg/s,
      cmd heading: 78.056590 deg,
      new cmd heading: 78.045670 deg.

2025-10-27T15:01:38.324Z,1761577298.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362154 target range: 501.980347 and range: 504.00 m.
2025-10-27T15:01:38.349Z,1761577298.349 [DAT](INFO): DAT read: 15:01:36.3964 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 404, 0.29,-1.414,-2.969,-1.136,-1.660, PHS= 0.348,-1.264, 0.480, RAW= 153.9,   5.2, CAL= 153.1,   5.2, ROT= 356.9,  -5.2

2025-10-27T15:01:38.350Z,1761577298.350 [DAT](INFO): got valid direction response:
 15:01:36.3964 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 404, 0.29,-1.414,-2.969,-1.136,-1.660, PHS= 0.348,-1.264, 0.480, RAW= 153.9,   5.2, CAL= 153.1,   5.2, ROT= 356.9,  -5.2

2025-10-27T15:01:38.351Z,1761577298.351 [DAT](INFO): DAT read: Bearing 231.5,   3.2 (Local)

2025-10-27T15:01:38.352Z,1761577298.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.5,   3.2 (Local)

2025-10-27T15:01:38.353Z,1761577298.353 [DAT](INFO): DAT read: Range 11 to 50 : 500.9 m  (Round-trip  667.9 ms) speed  0.8 m/s

2025-10-27T15:01:38.354Z,1761577298.354 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:38.355Z,1761577298.355 [DAT](INFO): direction in FSK: [0.994427,-0.053856,0.090633]
2025-10-27T15:01:38.356Z,1761577298.356 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:38.359Z,1761577298.359 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:38.359Z,1761577298.359 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:38.359Z,1761577298.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:38.596Z,1761577298.596 [DAT](INFO): DAT read: user:858>

2025-10-27T15:01:38.597Z,1761577298.597 [DAT](INFO): DAT read: Tx time:15:01:37.6244

2025-10-27T15:01:38.598Z,1761577298.598 [DAT](INFO): Ping request sent.
2025-10-27T15:01:38.598Z,1761577298.598 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:38.598Z,1761577298.598 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:38.599Z,1761577298.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001320
2025-10-27T15:01:38.660Z,1761577298.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215830,-0.958279,-0.187401],[0.968790,0.234123,-0.081435],[0.121912,-0.163976,0.978902]]
2025-10-27T15:01:38.709Z,1761577298.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 500.899994 m,
      deltaT: 4.284017 s,
      deltaX: -3.100006 m,
      approachRate: -0.723621 m/s,
      rangeRepo size: 4

2025-10-27T15:01:38.716Z,1761577298.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 498.871826 m,
      bearing: 75.200312 deg,
      lat: 36.779090 deg,
      lon: -121.859623 deg,
      deltaT: 4.284017 s,
      deltaX: -3.108521 m,
      approachRate: -0.725609 m/s,
      posRepo size: 4

2025-10-27T15:01:38.716Z,1761577298.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.87 m.
2025-10-27T15:01:38.724Z,1761577298.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.871826 m,
      nav range: 481.961334 m,
      bearing: 75.047164 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007590 deg/s,
      cmd heading: 78.045669 deg,
      new cmd heading: 78.036731 deg.

2025-10-27T15:01:38.726Z,1761577298.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361998 target range: 498.871826 and range: 500.90 m.
2025-10-27T15:01:38.848Z,1761577298.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250004
2025-10-27T15:01:39.056Z,1761577299.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213279,-0.958908,-0.187105],[0.969050,0.231998,-0.084375],[0.124316,-0.163319,0.978710]]
2025-10-27T15:01:39.100Z,1761577299.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501812
2025-10-27T15:01:39.111Z,1761577299.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:39.113Z,1761577299.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.87 m.
2025-10-27T15:01:39.120Z,1761577299.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.871826 m,
      nav range: 481.610413 m,
      bearing: 75.043103 deg,
      approach rate: -0.867122 m/s,
      LOS rate: -0.010044 deg/s,
      cmd heading: 78.036728 deg,
      new cmd heading: 78.024534 deg.

2025-10-27T15:01:39.121Z,1761577299.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361785 target range: 498.871826 and range: 500.90 m.
2025-10-27T15:01:39.352Z,1761577299.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754056
2025-10-27T15:01:39.481Z,1761577299.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.87 m.
2025-10-27T15:01:39.484Z,1761577299.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.871826 m,
      nav range: 481.270264 m,
      bearing: 75.039160 deg,
      approach rate: -0.925384 m/s,
      LOS rate: -0.010734 deg/s,
      cmd heading: 78.024536 deg,
      new cmd heading: 78.012699 deg.

2025-10-27T15:01:39.485Z,1761577299.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361578 target range: 498.871826 and range: 500.90 m.
2025-10-27T15:01:39.604Z,1761577299.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005944
2025-10-27T15:01:39.853Z,1761577299.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207578,-0.960313,-0.186309],[0.969582,0.227232,-0.090977],[0.129701,-0.161757,0.978270]]
2025-10-27T15:01:39.856Z,1761577299.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257870
2025-10-27T15:01:39.904Z,1761577299.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.87 m.
2025-10-27T15:01:39.911Z,1761577299.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.871826 m,
      nav range: 480.919525 m,
      bearing: 75.034849 deg,
      approach rate: -0.828601 m/s,
      LOS rate: -0.010190 deg/s,
      cmd heading: 78.012699 deg,
      new cmd heading: 77.999759 deg.

2025-10-27T15:01:39.912Z,1761577299.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361353 target range: 498.871826 and range: 500.90 m.
2025-10-27T15:01:40.108Z,1761577300.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509800
2025-10-27T15:01:40.258Z,1761577300.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204289,-0.961002,-0.186388],[0.969889,0.224494,-0.094432],[0.132593,-0.161485,0.977927]]
2025-10-27T15:01:40.301Z,1761577300.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.87 m.
2025-10-27T15:01:40.304Z,1761577300.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.871826 m,
      nav range: 480.544708 m,
      bearing: 75.030647 deg,
      approach rate: -0.944949 m/s,
      LOS rate: -0.010602 deg/s,
      cmd heading: 77.999756 deg,
      new cmd heading: 77.987140 deg.

2025-10-27T15:01:40.305Z,1761577300.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361132 target range: 498.871826 and range: 500.90 m.
2025-10-27T15:01:40.362Z,1761577300.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763122
2025-10-27T15:01:40.612Z,1761577300.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013744
2025-10-27T15:01:40.661Z,1761577300.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200896,-0.961785,-0.186041],[0.970184,0.221626,-0.098103],[0.135586,-0.160786,0.977632]]
2025-10-27T15:01:40.698Z,1761577300.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.87 m.
2025-10-27T15:01:40.701Z,1761577300.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.871826 m,
      nav range: 480.189636 m,
      bearing: 75.026514 deg,
      approach rate: -0.893814 m/s,
      LOS rate: -0.010413 deg/s,
      cmd heading: 77.987141 deg,
      new cmd heading: 77.974732 deg.

2025-10-27T15:01:40.702Z,1761577300.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360916 target range: 498.871826 and range: 500.90 m.
2025-10-27T15:01:40.866Z,1761577300.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267497
2025-10-27T15:01:41.080Z,1761577301.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197309,-0.962543,-0.185958],[0.970485,0.218609,-0.101827],[0.138665,-0.160378,0.977267]]
2025-10-27T15:01:41.116Z,1761577301.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517950
2025-10-27T15:01:41.129Z,1761577301.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:41.131Z,1761577301.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.87 m.
2025-10-27T15:01:41.133Z,1761577301.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.871826 m,
      nav range: 479.808319 m,
      bearing: 75.023599 deg,
      approach rate: -0.881387 m/s,
      LOS rate: -0.006744 deg/s,
      cmd heading: 77.974730 deg,
      new cmd heading: 77.965977 deg.

2025-10-27T15:01:41.134Z,1761577301.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360763 target range: 498.871826 and range: 500.90 m.
2025-10-27T15:01:41.369Z,1761577301.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770609
2025-10-27T15:01:41.472Z,1761577301.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193700,-0.963280,-0.185935],[0.970777,0.215565,-0.105467],[0.141675,-0.160072,0.976885]]
2025-10-27T15:01:41.490Z,1761577301.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.87 m.
2025-10-27T15:01:41.493Z,1761577301.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.871826 m,
      nav range: 479.490936 m,
      bearing: 75.021030 deg,
      approach rate: -0.882641 m/s,
      LOS rate: -0.007149 deg/s,
      cmd heading: 77.965974 deg,
      new cmd heading: 77.958263 deg.

2025-10-27T15:01:41.494Z,1761577301.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360628 target range: 498.871826 and range: 500.90 m.
2025-10-27T15:01:41.620Z,1761577301.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021794
2025-10-27T15:01:41.873Z,1761577301.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274601
2025-10-27T15:01:41.893Z,1761577301.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190228,-0.964039,-0.185585],[0.971037,0.212599,-0.109036],[0.144570,-0.159468,0.976560]]
2025-10-27T15:01:41.911Z,1761577301.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.87 m.
2025-10-27T15:01:41.913Z,1761577301.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.871826 m,
      nav range: 479.120331 m,
      bearing: 75.017870 deg,
      approach rate: -0.881491 m/s,
      LOS rate: -0.007522 deg/s,
      cmd heading: 77.958263 deg,
      new cmd heading: 77.948775 deg.

2025-10-27T15:01:41.914Z,1761577301.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360463 target range: 498.871826 and range: 500.90 m.
2025-10-27T15:01:42.124Z,1761577302.124 [DAT](INFO): DAT read: Rx Time:15:01:40.6913

2025-10-27T15:01:42.125Z,1761577302.125 [DAT](INFO): Rx dataTimestamp_ set to:1761577302.124612
2025-10-27T15:01:42.126Z,1761577302.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527680
2025-10-27T15:01:42.278Z,1761577302.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187197,-0.964614,-0.185678],[0.971205,0.210099,-0.112334],[0.147370,-0.159303,0.976168]]
2025-10-27T15:01:42.342Z,1761577302.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.87 m.
2025-10-27T15:01:42.349Z,1761577302.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.871826 m,
      nav range: 478.773865 m,
      bearing: 75.016983 deg,
      approach rate: -0.803513 m/s,
      LOS rate: -0.002059 deg/s,
      cmd heading: 77.948776 deg,
      new cmd heading: 77.946113 deg.

2025-10-27T15:01:42.350Z,1761577302.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360416 target range: 498.871826 and range: 500.90 m.
2025-10-27T15:01:42.377Z,1761577302.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779043
2025-10-27T15:01:42.634Z,1761577302.634 [DAT](INFO): DAT read: 15:01:40.6913 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 383, 0.06,-0.861,-2.305,-0.561,-1.064, PHS= 0.305,-1.196, 0.459, RAW= 154.8,   5.5, CAL= 154.1,   5.4, ROT= 355.9,  -5.4

2025-10-27T15:01:42.635Z,1761577302.635 [DAT](INFO): got valid direction response:
 15:01:40.6913 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 383, 0.06,-0.861,-2.305,-0.561,-1.064, PHS= 0.305,-1.196, 0.459, RAW= 154.8,   5.5, CAL= 154.1,   5.4, ROT= 355.9,  -5.4

2025-10-27T15:01:42.636Z,1761577302.636 [DAT](INFO): DAT read: Bearing 231.1,   3.3 (Local)

2025-10-27T15:01:42.636Z,1761577302.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.1,   3.3 (Local)

2025-10-27T15:01:42.637Z,1761577302.637 [DAT](INFO): DAT read: Range 11 to 50 : 497.0 m  (Round-trip  662.7 ms) speed  0.4 m/s

2025-10-27T15:01:42.638Z,1761577302.638 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:42.640Z,1761577302.640 [DAT](INFO): direction in FSK: [0.993014,-0.071180,0.094108]
2025-10-27T15:01:42.640Z,1761577302.640 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:42.644Z,1761577302.644 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:42.644Z,1761577302.644 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:42.644Z,1761577302.644 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:42.714Z,1761577302.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185148,-0.964547,-0.188070],[0.971168,0.208837,-0.114975],[0.150174,-0.161360,0.975403]]
2025-10-27T15:01:42.784Z,1761577302.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 497.000000 m,
      deltaT: 4.284489 s,
      deltaX: -3.899994 m,
      approachRate: -0.910259 m/s,
      rangeRepo size: 4

2025-10-27T15:01:42.786Z,1761577302.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 494.981110 m,
      bearing: 75.955864 deg,
      lat: 36.779051 deg,
      lon: -121.859623 deg,
      deltaT: 4.284489 s,
      deltaX: -3.890717 m,
      approachRate: -0.908094 m/s,
      posRepo size: 4

2025-10-27T15:01:42.795Z,1761577302.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:42.798Z,1761577302.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 477.312805 m,
      bearing: 75.513029 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002059 deg/s,
      cmd heading: 77.946112 deg,
      new cmd heading: 77.943387 deg.

2025-10-27T15:01:42.803Z,1761577302.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360369 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:42.881Z,1761577302.881 [DAT](INFO): DAT read: user:859>

2025-10-27T15:01:42.882Z,1761577302.882 [DAT](INFO): DAT read: Tx time:15:01:41.9244

2025-10-27T15:01:42.883Z,1761577302.883 [DAT](INFO): Ping request sent.
2025-10-27T15:01:42.883Z,1761577302.883 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:42.884Z,1761577302.884 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:42.885Z,1761577302.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001829
2025-10-27T15:01:43.132Z,1761577303.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249106
2025-10-27T15:01:43.187Z,1761577303.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:43.189Z,1761577303.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:43.196Z,1761577303.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 476.991241 m,
      bearing: 75.515100 deg,
      approach rate: -0.791906 m/s,
      LOS rate: 0.005102 deg/s,
      cmd heading: 77.943387 deg,
      new cmd heading: 77.949602 deg.

2025-10-27T15:01:43.197Z,1761577303.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360477 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:43.385Z,1761577303.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502244
2025-10-27T15:01:43.561Z,1761577303.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:43.564Z,1761577303.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 476.711670 m,
      bearing: 75.516902 deg,
      approach rate: -0.752422 m/s,
      LOS rate: 0.004854 deg/s,
      cmd heading: 77.949602 deg,
      new cmd heading: 77.955012 deg.

2025-10-27T15:01:43.565Z,1761577303.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360572 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:43.636Z,1761577303.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753214
2025-10-27T15:01:43.888Z,1761577303.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005147
2025-10-27T15:01:43.930Z,1761577303.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182950,-0.964110,-0.192408],[0.970596,0.208268,-0.120695],[0.156435,-0.164670,0.973864]]
2025-10-27T15:01:43.955Z,1761577303.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:43.958Z,1761577303.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 476.415588 m,
      bearing: 75.518752 deg,
      approach rate: -0.750790 m/s,
      LOS rate: 0.004693 deg/s,
      cmd heading: 77.955012 deg,
      new cmd heading: 77.960564 deg.

2025-10-27T15:01:43.959Z,1761577303.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360669 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:44.140Z,1761577304.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257220
2025-10-27T15:01:44.330Z,1761577304.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183848,-0.963548,-0.194360],[0.970190,0.209640,-0.121583],[0.157897,-0.166213,0.973366]]
2025-10-27T15:01:44.392Z,1761577304.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509393
2025-10-27T15:01:44.415Z,1761577304.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:44.418Z,1761577304.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 476.118988 m,
      bearing: 75.522619 deg,
      approach rate: -0.650999 m/s,
      LOS rate: 0.008494 deg/s,
      cmd heading: 77.960565 deg,
      new cmd heading: 77.972175 deg.

2025-10-27T15:01:44.419Z,1761577304.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360871 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:44.645Z,1761577304.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761729
2025-10-27T15:01:44.793Z,1761577304.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:44.796Z,1761577304.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 475.843262 m,
      bearing: 75.526219 deg,
      approach rate: -0.721710 m/s,
      LOS rate: 0.009427 deg/s,
      cmd heading: 77.972176 deg,
      new cmd heading: 77.982981 deg.

2025-10-27T15:01:44.797Z,1761577304.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361060 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:44.896Z,1761577304.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013259
2025-10-27T15:01:45.148Z,1761577305.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265190
2025-10-27T15:01:45.149Z,1761577305.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186370,-0.962477,-0.197242],[0.969330,0.212869,-0.122827],[0.160205,-0.168301,0.972630]]
2025-10-27T15:01:45.200Z,1761577305.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:45.203Z,1761577305.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:45.205Z,1761577305.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 475.593842 m,
      bearing: 75.530717 deg,
      approach rate: -0.608668 m/s,
      LOS rate: 0.010982 deg/s,
      cmd heading: 77.982981 deg,
      new cmd heading: 77.996483 deg.

2025-10-27T15:01:45.206Z,1761577305.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361295 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:45.400Z,1761577305.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517152
2025-10-27T15:01:45.542Z,1761577305.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189025,-0.961527,-0.199336],[0.968670,0.215882,-0.122777],[0.161086,-0.169883,0.972209]]
2025-10-27T15:01:45.575Z,1761577305.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:45.578Z,1761577305.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 475.366211 m,
      bearing: 75.534905 deg,
      approach rate: -0.611132 m/s,
      LOS rate: 0.011248 deg/s,
      cmd heading: 77.996485 deg,
      new cmd heading: 78.009054 deg.

2025-10-27T15:01:45.579Z,1761577305.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361515 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:45.652Z,1761577305.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769303
2025-10-27T15:01:45.904Z,1761577305.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021071
2025-10-27T15:01:45.947Z,1761577305.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191349,-0.960897,-0.200156],[0.968040,0.218438,-0.123219],[0.162122,-0.170181,0.971985]]
2025-10-27T15:01:45.965Z,1761577305.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:45.968Z,1761577305.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 475.127960 m,
      bearing: 75.539365 deg,
      approach rate: -0.610505 m/s,
      LOS rate: 0.011436 deg/s,
      cmd heading: 78.009052 deg,
      new cmd heading: 78.022441 deg.

2025-10-27T15:01:45.969Z,1761577305.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361748 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:46.156Z,1761577306.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273101
2025-10-27T15:01:46.359Z,1761577306.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193931,-0.960017,-0.201884],[0.967340,0.221377,-0.123475],[0.163231,-0.171345,0.971595]]
2025-10-27T15:01:46.408Z,1761577306.408 [DAT](INFO): DAT read: Rx Time:15:01:44.9876

2025-10-27T15:01:46.409Z,1761577306.409 [DAT](INFO): Rx dataTimestamp_ set to:1761577306.408300
2025-10-27T15:01:46.409Z,1761577306.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526351
2025-10-27T15:01:46.426Z,1761577306.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:46.433Z,1761577306.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 474.873047 m,
      bearing: 75.544063 deg,
      approach rate: -0.553714 m/s,
      LOS rate: 0.010210 deg/s,
      cmd heading: 78.022439 deg,
      new cmd heading: 78.036540 deg.

2025-10-27T15:01:46.433Z,1761577306.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361995 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:46.661Z,1761577306.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778166
2025-10-27T15:01:46.761Z,1761577306.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196651,-0.959333,-0.202506],[0.966597,0.224313,-0.123991],[0.164374,-0.171358,0.971400]]
2025-10-27T15:01:46.802Z,1761577306.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.98 m.
2025-10-27T15:01:46.813Z,1761577306.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.981110 m,
      nav range: 474.645935 m,
      bearing: 75.548335 deg,
      approach rate: -0.603143 m/s,
      LOS rate: 0.011349 deg/s,
      cmd heading: 78.036544 deg,
      new cmd heading: 78.049364 deg.

2025-10-27T15:01:46.814Z,1761577306.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362218 target range: 494.981110 and range: 497.00 m.
2025-10-27T15:01:46.920Z,1761577306.920 [DAT](INFO): DAT read: 15:01:44.9876 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410,-0.06, 1.056,-0.403, 1.318, 0.864, PHS= 0.294,-1.222, 0.410, RAW= 153.6,   6.6, CAL= 153.0,   6.8, ROT= 357.0,  -6.8

2025-10-27T15:01:46.922Z,1761577306.922 [DAT](INFO): got valid direction response:
 15:01:44.9876 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410,-0.06, 1.056,-0.403, 1.318, 0.864, PHS= 0.294,-1.222, 0.410, RAW= 153.6,   6.6, CAL= 153.0,   6.8, ROT= 357.0,  -6.8

2025-10-27T15:01:46.923Z,1761577306.923 [DAT](INFO): DAT read: Bearing 232.0,   5.5 (Local)

2025-10-27T15:01:46.924Z,1761577306.924 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.0,   5.5 (Local)

2025-10-27T15:01:46.925Z,1761577306.925 [DAT](INFO): DAT read: Range 11 to 50 : 494.3 m  (Round-trip  659.1 ms) speed  0.4 m/s

2025-10-27T15:01:46.926Z,1761577306.926 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:46.927Z,1761577306.927 [DAT](INFO): direction in FSK: [0.991605,-0.051968,0.118404]
2025-10-27T15:01:46.927Z,1761577306.927 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:46.931Z,1761577306.931 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:46.931Z,1761577306.931 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:46.932Z,1761577306.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:47.164Z,1761577307.164 [DAT](INFO): DAT read: user:860>

2025-10-27T15:01:47.165Z,1761577307.165 [DAT](INFO): DAT read: Tx time:15:01:46.1744

2025-10-27T15:01:47.165Z,1761577307.165 [DAT](INFO): Ping request sent.
2025-10-27T15:01:47.165Z,1761577307.165 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:47.165Z,1761577307.165 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:47.166Z,1761577307.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-10-27T15:01:47.201Z,1761577307.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198489,-0.958741,-0.203515],[0.966025,0.226442,-0.124580],[0.165524,-0.171873,0.971114]]
2025-10-27T15:01:47.259Z,1761577307.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 494.299988 m,
      deltaT: 4.283682 s,
      deltaX: -2.700012 m,
      approachRate: -0.630302 m/s,
      rangeRepo size: 4

2025-10-27T15:01:47.261Z,1761577307.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 492.272614 m,
      bearing: 76.561604 deg,
      lat: 36.779025 deg,
      lon: -121.859633 deg,
      deltaT: 4.283682 s,
      deltaX: -2.708496 m,
      approachRate: -0.632282 m/s,
      posRepo size: 4

2025-10-27T15:01:47.262Z,1761577307.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.27 m.
2025-10-27T15:01:47.265Z,1761577307.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.272614 m,
      nav range: 472.802948 m,
      bearing: 75.868329 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011349 deg/s,
      cmd heading: 78.049364 deg,
      new cmd heading: 78.064900 deg.

2025-10-27T15:01:47.266Z,1761577307.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362490 target range: 492.272614 and range: 494.30 m.
2025-10-27T15:01:47.416Z,1761577307.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250836
2025-10-27T15:01:47.565Z,1761577307.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200537,-0.958087,-0.204582],[0.965411,0.228777,-0.125074],[0.166635,-0.172424,0.970826]]
2025-10-27T15:01:47.581Z,1761577307.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:47.584Z,1761577307.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.27 m.
2025-10-27T15:01:47.586Z,1761577307.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.272614 m,
      nav range: 472.609375 m,
      bearing: 75.871079 deg,
      approach rate: -0.595413 m/s,
      LOS rate: 0.008461 deg/s,
      cmd heading: 78.064903 deg,
      new cmd heading: 78.073155 deg.

2025-10-27T15:01:47.587Z,1761577307.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362634 target range: 492.272614 and range: 494.30 m.
2025-10-27T15:01:47.673Z,1761577307.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507534
2025-10-27T15:01:47.924Z,1761577307.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758716
2025-10-27T15:01:48.001Z,1761577308.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.27 m.
2025-10-27T15:01:48.003Z,1761577308.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.272614 m,
      nav range: 472.366943 m,
      bearing: 75.874526 deg,
      approach rate: -0.581413 m/s,
      LOS rate: 0.008271 deg/s,
      cmd heading: 78.073153 deg,
      new cmd heading: 78.083500 deg.

2025-10-27T15:01:48.004Z,1761577308.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362814 target range: 492.272614 and range: 494.30 m.
2025-10-27T15:01:48.183Z,1761577308.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.017853
2025-10-27T15:01:48.380Z,1761577308.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203901,-0.956853,-0.207017],[0.964188,0.232911,-0.126860],[0.169603,-0.173737,0.970078]]
2025-10-27T15:01:48.428Z,1761577308.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263058
2025-10-27T15:01:48.435Z,1761577308.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.27 m.
2025-10-27T15:01:48.438Z,1761577308.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.272614 m,
      nav range: 472.102142 m,
      bearing: 75.875693 deg,
      approach rate: -0.609971 m/s,
      LOS rate: 0.002689 deg/s,
      cmd heading: 78.083501 deg,
      new cmd heading: 78.087003 deg.

2025-10-27T15:01:48.438Z,1761577308.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362875 target range: 492.272614 and range: 494.30 m.
2025-10-27T15:01:48.680Z,1761577308.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515099
2025-10-27T15:01:48.774Z,1761577308.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205282,-0.956390,-0.207791],[0.963586,0.234675,-0.128176],[0.171349,-0.173912,0.969739]]
2025-10-27T15:01:48.806Z,1761577308.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.27 m.
2025-10-27T15:01:48.809Z,1761577308.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.272614 m,
      nav range: 471.873993 m,
      bearing: 75.876741 deg,
      approach rate: -0.614063 m/s,
      LOS rate: 0.002822 deg/s,
      cmd heading: 78.087005 deg,
      new cmd heading: 78.090150 deg.

2025-10-27T15:01:48.810Z,1761577308.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362930 target range: 492.272614 and range: 494.30 m.
2025-10-27T15:01:48.932Z,1761577308.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766719
2025-10-27T15:01:49.188Z,1761577309.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021613
2025-10-27T15:01:49.229Z,1761577309.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206235,-0.956033,-0.208491],[0.963039,0.236045,-0.129764],[0.173272,-0.174024,0.969377]]
2025-10-27T15:01:49.289Z,1761577309.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.27 m.
2025-10-27T15:01:49.296Z,1761577309.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.272614 m,
      nav range: 471.556763 m,
      bearing: 75.875727 deg,
      approach rate: -0.656873 m/s,
      LOS rate: -0.002101 deg/s,
      cmd heading: 78.090154 deg,
      new cmd heading: 78.087110 deg.

2025-10-27T15:01:49.297Z,1761577309.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362877 target range: 492.272614 and range: 494.30 m.
2025-10-27T15:01:49.436Z,1761577309.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270804
2025-10-27T15:01:49.689Z,1761577309.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523481
2025-10-27T15:01:49.748Z,1761577309.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206837,-0.956056,-0.207785],[0.962544,0.236898,-0.131862],[0.175291,-0.172729,0.969246]]
2025-10-27T15:01:49.771Z,1761577309.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:49.773Z,1761577309.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.27 m.
2025-10-27T15:01:49.792Z,1761577309.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.272614 m,
      nav range: 471.236908 m,
      bearing: 75.874740 deg,
      approach rate: -0.661159 m/s,
      LOS rate: -0.002042 deg/s,
      cmd heading: 78.087108 deg,
      new cmd heading: 78.084144 deg.

2025-10-27T15:01:49.793Z,1761577309.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362825 target range: 492.272614 and range: 494.30 m.
2025-10-27T15:01:49.940Z,1761577309.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774697
2025-10-27T15:01:50.183Z,1761577310.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207162,-0.955767,-0.208792],[0.962112,0.237711,-0.133547],[0.177272,-0.173216,0.968799]]
2025-10-27T15:01:50.193Z,1761577310.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027849
2025-10-27T15:01:50.248Z,1761577310.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.27 m.
2025-10-27T15:01:50.280Z,1761577310.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.272614 m,
      nav range: 470.882263 m,
      bearing: 75.871624 deg,
      approach rate: -0.746087 m/s,
      LOS rate: -0.006560 deg/s,
      cmd heading: 78.084143 deg,
      new cmd heading: 78.074789 deg.

2025-10-27T15:01:50.281Z,1761577310.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362662 target range: 492.272614 and range: 494.30 m.
2025-10-27T15:01:50.444Z,1761577310.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278602
2025-10-27T15:01:50.590Z,1761577310.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207222,-0.955590,-0.209541],[0.961700,0.238263,-0.135516],[0.179423,-0.173434,0.968363]]
2025-10-27T15:01:50.608Z,1761577310.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.27 m.
2025-10-27T15:01:50.610Z,1761577310.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.272614 m,
      nav range: 470.616547 m,
      bearing: 75.869289 deg,
      approach rate: -0.739509 m/s,
      LOS rate: -0.006502 deg/s,
      cmd heading: 78.074786 deg,
      new cmd heading: 78.067777 deg.

2025-10-27T15:01:50.611Z,1761577310.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362540 target range: 492.272614 and range: 494.30 m.
2025-10-27T15:01:50.698Z,1761577310.698 [DAT](INFO): DAT read: Rx Time:15:01:49.2436

2025-10-27T15:01:50.699Z,1761577310.699 [DAT](INFO): Rx dataTimestamp_ set to:1761577310.698483
2025-10-27T15:01:50.699Z,1761577310.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534244
2025-10-27T15:01:50.952Z,1761577310.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786719
2025-10-27T15:01:50.990Z,1761577310.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206508,-0.955448,-0.210888],[0.961470,0.238130,-0.137367],[0.181465,-0.174395,0.967810]]
2025-10-27T15:01:51.009Z,1761577311.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.27 m.
2025-10-27T15:01:51.012Z,1761577311.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.272614 m,
      nav range: 470.320221 m,
      bearing: 75.866651 deg,
      approach rate: -0.738267 m/s,
      LOS rate: -0.006576 deg/s,
      cmd heading: 78.067778 deg,
      new cmd heading: 78.059860 deg.

2025-10-27T15:01:51.013Z,1761577311.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362402 target range: 492.272614 and range: 494.30 m.
2025-10-27T15:01:51.225Z,1761577311.225 [DAT](INFO): DAT read: 15:01:49.2436 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 403,-0.02, 0.590,-0.920, 0.823, 0.363, PHS= 0.329,-1.238, 0.416, RAW= 152.7,   6.2, CAL= 152.0,   6.4, ROT= 358.0,  -6.4

2025-10-27T15:01:51.226Z,1761577311.226 [DAT](INFO): got valid direction response:
 15:01:49.2436 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 403,-0.02, 0.590,-0.920, 0.823, 0.363, PHS= 0.329,-1.238, 0.416, RAW= 152.7,   6.2, CAL= 152.0,   6.4, ROT= 358.0,  -6.4

2025-10-27T15:01:51.228Z,1761577311.228 [DAT](INFO): DAT read: Bearing 231.7,   7.8 (Local)

2025-10-27T15:01:51.228Z,1761577311.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.7,   7.8 (Local)

2025-10-27T15:01:51.229Z,1761577311.229 [DAT](INFO): DAT read: Range 11 to 50 : 498.8 m  (Round-trip  665.1 ms) speed  0.9 m/s

2025-10-27T15:01:51.230Z,1761577311.230 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:51.231Z,1761577311.231 [DAT](INFO): direction in FSK: [0.993163,-0.034682,0.111469]
2025-10-27T15:01:51.232Z,1761577311.232 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:51.238Z,1761577311.238 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:51.238Z,1761577311.238 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:51.239Z,1761577311.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:51.394Z,1761577311.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205430,-0.955466,-0.211858],[0.961298,0.237607,-0.139459],[0.183587,-0.175010,0.967299]]
2025-10-27T15:01:51.456Z,1761577311.456 [DAT](INFO): DAT read: user:861>

2025-10-27T15:01:51.457Z,1761577311.457 [DAT](INFO): DAT read: Tx time:15:01:50.5244

2025-10-27T15:01:51.457Z,1761577311.457 [DAT](INFO): Ping request sent.
2025-10-27T15:01:51.457Z,1761577311.457 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:51.458Z,1761577311.458 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:51.458Z,1761577311.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-27T15:01:51.467Z,1761577311.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 498.799988 m,
      deltaT: 4.293380 s,
      deltaX: 4.500000 m,
      approachRate: 1.048125 m/s,
      rangeRepo size: 4

2025-10-27T15:01:51.469Z,1761577311.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 496.719879 m,
      bearing: 77.080493 deg,
      lat: 36.779023 deg,
      lon: -121.859595 deg,
      deltaT: 4.293380 s,
      deltaX: 4.447266 m,
      approachRate: 1.035843 m/s,
      posRepo size: 4

2025-10-27T15:01:51.470Z,1761577311.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.72 m.
2025-10-27T15:01:51.485Z,1761577311.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 496.719879 m,
      nav range: 473.198883 m,
      bearing: 75.990840 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006576 deg/s,
      cmd heading: 78.059862 deg,
      new cmd heading: 78.051153 deg.

2025-10-27T15:01:51.486Z,1761577311.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362250 target range: 496.719879 and range: 498.80 m.
2025-10-27T15:01:51.709Z,1761577311.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251641
2025-10-27T15:01:51.805Z,1761577311.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203634,-0.956303,-0.209803],[0.961357,0.235862,-0.141993],[0.185273,-0.172781,0.967378]]
2025-10-27T15:01:51.821Z,1761577311.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:51.823Z,1761577311.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.72 m.
2025-10-27T15:01:51.826Z,1761577311.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 496.719879 m,
      nav range: 472.904327 m,
      bearing: 75.987558 deg,
      approach rate: -0.790469 m/s,
      LOS rate: -0.008811 deg/s,
      cmd heading: 78.051153 deg,
      new cmd heading: 78.041304 deg.

2025-10-27T15:01:51.827Z,1761577311.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362078 target range: 496.719879 and range: 498.80 m.
2025-10-27T15:01:51.961Z,1761577311.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503106
2025-10-27T15:01:52.215Z,1761577312.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757322
2025-10-27T15:01:52.233Z,1761577312.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201535,-0.956902,-0.209099],[0.961451,0.234037,-0.144355],[0.187070,-0.171946,0.967181]]
2025-10-27T15:01:52.296Z,1761577312.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.72 m.
2025-10-27T15:01:52.299Z,1761577312.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 496.719879 m,
      nav range: 472.502197 m,
      bearing: 75.982720 deg,
      approach rate: -0.849679 m/s,
      LOS rate: -0.010232 deg/s,
      cmd heading: 78.041304 deg,
      new cmd heading: 78.026777 deg.

2025-10-27T15:01:52.300Z,1761577312.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361824 target range: 496.719879 and range: 498.80 m.
2025-10-27T15:01:52.464Z,1761577312.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006517
2025-10-27T15:01:52.619Z,1761577312.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199158,-0.957861,-0.206976],[0.961663,0.231661,-0.146759],[0.188523,-0.169812,0.967276]]
2025-10-27T15:01:52.642Z,1761577312.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.72 m.
2025-10-27T15:01:52.661Z,1761577312.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 496.719879 m,
      nav range: 472.212891 m,
      bearing: 75.979152 deg,
      approach rate: -0.836891 m/s,
      LOS rate: -0.010327 deg/s,
      cmd heading: 78.026777 deg,
      new cmd heading: 78.016066 deg.

2025-10-27T15:01:52.662Z,1761577312.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361637 target range: 496.719879 and range: 498.80 m.
2025-10-27T15:01:52.716Z,1761577312.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259030
2025-10-27T15:01:52.968Z,1761577312.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510520
2025-10-27T15:01:53.021Z,1761577313.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196477,-0.958616,-0.206039],[0.961970,0.229127,-0.148707],[0.189762,-0.168986,0.967178]]
2025-10-27T15:01:53.052Z,1761577313.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.72 m.
2025-10-27T15:01:53.055Z,1761577313.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 496.719879 m,
      nav range: 471.861267 m,
      bearing: 75.974693 deg,
      approach rate: -0.857518 m/s,
      LOS rate: -0.010883 deg/s,
      cmd heading: 78.016067 deg,
      new cmd heading: 78.002679 deg.

2025-10-27T15:01:53.056Z,1761577313.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361404 target range: 496.719879 and range: 498.80 m.
2025-10-27T15:01:53.224Z,1761577313.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766129
2025-10-27T15:01:53.425Z,1761577313.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193667,-0.959530,-0.204438],[0.962310,0.226347,-0.150750],[0.190923,-0.167537,0.967202]]
2025-10-27T15:01:53.472Z,1761577313.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014625
2025-10-27T15:01:53.479Z,1761577313.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.72 m.
2025-10-27T15:01:53.482Z,1761577313.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 496.719879 m,
      nav range: 471.501221 m,
      bearing: 75.970769 deg,
      approach rate: -0.843186 m/s,
      LOS rate: -0.009198 deg/s,
      cmd heading: 78.002680 deg,
      new cmd heading: 77.990897 deg.

2025-10-27T15:01:53.484Z,1761577313.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361198 target range: 496.719879 and range: 498.80 m.
2025-10-27T15:01:53.725Z,1761577313.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267182
2025-10-27T15:01:53.830Z,1761577313.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190649,-0.960435,-0.203021],[0.962676,0.223395,-0.152807],[0.192116,-0.166311,0.967178]]
2025-10-27T15:01:53.876Z,1761577313.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:53.878Z,1761577313.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.72 m.
2025-10-27T15:01:53.881Z,1761577313.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 496.719879 m,
      nav range: 471.162628 m,
      bearing: 75.966945 deg,
      approach rate: -0.847691 m/s,
      LOS rate: -0.009580 deg/s,
      cmd heading: 77.990898 deg,
      new cmd heading: 77.979418 deg.

2025-10-27T15:01:53.882Z,1761577313.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360998 target range: 496.719879 and range: 498.80 m.
2025-10-27T15:01:53.977Z,1761577313.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519858
2025-10-27T15:01:54.230Z,1761577314.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772268
2025-10-27T15:01:54.260Z,1761577314.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184885,-0.961800,-0.201888],[0.963302,0.218035,-0.156555],[0.194593,-0.165535,0.966815]]
2025-10-27T15:01:54.313Z,1761577314.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.72 m.
2025-10-27T15:01:54.333Z,1761577314.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 496.719879 m,
      nav range: 470.803864 m,
      bearing: 75.964207 deg,
      approach rate: -0.826117 m/s,
      LOS rate: -0.006310 deg/s,
      cmd heading: 77.979416 deg,
      new cmd heading: 77.971195 deg.

2025-10-27T15:01:54.341Z,1761577314.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360854 target range: 496.719879 and range: 498.80 m.
2025-10-27T15:01:54.480Z,1761577314.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022529
2025-10-27T15:01:54.644Z,1761577314.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182268,-0.962340,-0.201693],[0.963592,0.215638,-0.158085],[0.195624,-0.165536,0.966607]]
2025-10-27T15:01:54.662Z,1761577314.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.72 m.
2025-10-27T15:01:54.665Z,1761577314.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 496.719879 m,
      nav range: 470.506134 m,
      bearing: 75.961833 deg,
      approach rate: -0.851826 m/s,
      LOS rate: -0.006794 deg/s,
      cmd heading: 77.971192 deg,
      new cmd heading: 77.964068 deg.

2025-10-27T15:01:54.666Z,1761577314.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360730 target range: 496.719879 and range: 498.80 m.
2025-10-27T15:01:54.733Z,1761577314.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275632
2025-10-27T15:01:54.984Z,1761577314.984 [DAT](INFO): DAT read: Rx Time:15:01:53.5880

2025-10-27T15:01:54.984Z,1761577314.984 [DAT](INFO): Rx dataTimestamp_ set to:1761577314.984114
2025-10-27T15:01:54.985Z,1761577314.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527603
2025-10-27T15:01:55.088Z,1761577315.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.72 m.
2025-10-27T15:01:55.095Z,1761577315.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 496.719879 m,
      nav range: 470.163086 m,
      bearing: 75.959095 deg,
      approach rate: -0.805219 m/s,
      LOS rate: -0.006431 deg/s,
      cmd heading: 77.964069 deg,
      new cmd heading: 77.955849 deg.

2025-10-27T15:01:55.096Z,1761577315.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360586 target range: 496.719879 and range: 498.80 m.
2025-10-27T15:01:55.239Z,1761577315.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780868
2025-10-27T15:01:55.498Z,1761577315.498 [DAT](INFO): DAT read: 15:01:53.5880 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 285, 0.29,-2.324, 2.536,-2.079,-2.585, PHS= 0.363,-1.118, 0.462, RAW= 153.2,   3.9, CAL= 152.2,   3.6, ROT= 357.8,  -3.6

2025-10-27T15:01:55.499Z,1761577315.499 [DAT](INFO): got valid direction response:
 15:01:53.5880 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 285, 0.29,-2.324, 2.536,-2.079,-2.585, PHS= 0.363,-1.118, 0.462, RAW= 153.2,   3.9, CAL= 152.2,   3.6, ROT= 357.8,  -3.6

2025-10-27T15:01:55.500Z,1761577315.500 [DAT](INFO): DAT read: Bearing 228.5, ocal)

2025-10-27T15:01:55.500Z,1761577315.500 [DAT](INFO): unknown deviceResponse_: Bearing 228.5, ocal)

2025-10-27T15:01:55.502Z,1761577315.502 [DAT](INFO): DAT read: Range 11 to 50 : 494.6 m  (Round-trip  659.5 ms) speed  0.6 m/s

2025-10-27T15:01:55.502Z,1761577315.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:55.504Z,1761577315.504 [DAT](INFO): direction in FSK: [0.997291,-0.038312,0.062791]
2025-10-27T15:01:55.504Z,1761577315.504 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:55.519Z,1761577315.519 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:55.520Z,1761577315.520 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:55.520Z,1761577315.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:01:55.561Z,1761577315.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178254,-0.963485,-0.199806],[0.963910,0.211787,-0.161321],[0.197746,-0.163839,0.966464]]
2025-10-27T15:01:55.669Z,1761577315.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 494.600006 m,
      deltaT: 4.284028 s,
      deltaX: -4.199982 m,
      approachRate: -0.980381 m/s,
      rangeRepo size: 4

2025-10-27T15:01:55.690Z,1761577315.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 492.531677 m,
      bearing: 77.902053 deg,
      lat: 36.778972 deg,
      lon: -121.859567 deg,
      deltaT: 4.284028 s,
      deltaX: -4.188202 m,
      approachRate: -0.977632 m/s,
      posRepo size: 4

2025-10-27T15:01:55.691Z,1761577315.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.53 m.
2025-10-27T15:01:55.694Z,1761577315.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.531677 m,
      nav range: 470.802307 m,
      bearing: 76.695645 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006431 deg/s,
      cmd heading: 77.955852 deg,
      new cmd heading: 77.944660 deg.

2025-10-27T15:01:55.695Z,1761577315.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360391 target range: 492.531677 and range: 494.60 m.
2025-10-27T15:01:55.740Z,1761577315.740 [DAT](INFO): DAT read: user:862>

2025-10-27T15:01:55.741Z,1761577315.741 [DAT](INFO): DAT read: Tx time:15:01:54.7744

2025-10-27T15:01:55.742Z,1761577315.742 [DAT](INFO): Ping request sent.
2025-10-27T15:01:55.742Z,1761577315.742 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:01:55.742Z,1761577315.742 [DAT](INFO): publishing transmit ping time
2025-10-27T15:01:55.749Z,1761577315.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006491
2025-10-27T15:01:55.981Z,1761577315.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177287,-0.963405,-0.201046],[0.963925,0.211191,-0.162010],[0.198541,-0.165071,0.966092]]
2025-10-27T15:01:55.992Z,1761577315.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250037
2025-10-27T15:01:55.999Z,1761577315.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:56.001Z,1761577316.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.53 m.
2025-10-27T15:01:56.005Z,1761577316.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.531677 m,
      nav range: 470.522125 m,
      bearing: 76.695063 deg,
      approach rate: -0.841314 m/s,
      LOS rate: -0.001750 deg/s,
      cmd heading: 77.944657 deg,
      new cmd heading: 77.942909 deg.

2025-10-27T15:01:56.006Z,1761577316.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360360 target range: 492.531677 and range: 494.60 m.
2025-10-27T15:01:56.247Z,1761577316.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504038
2025-10-27T15:01:56.382Z,1761577316.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176724,-0.963259,-0.202239],[0.963868,0.210979,-0.162623],[0.199316,-0.166192,0.965740]]
2025-10-27T15:01:56.442Z,1761577316.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.53 m.
2025-10-27T15:01:56.449Z,1761577316.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.531677 m,
      nav range: 470.194427 m,
      bearing: 76.696226 deg,
      approach rate: -0.743092 m/s,
      LOS rate: 0.002640 deg/s,
      cmd heading: 77.942909 deg,
      new cmd heading: 77.946401 deg.

2025-10-27T15:01:56.450Z,1761577316.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360421 target range: 492.531677 and range: 494.60 m.
2025-10-27T15:01:56.496Z,1761577316.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753739
2025-10-27T15:01:56.749Z,1761577316.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006295
2025-10-27T15:01:56.786Z,1761577316.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177200,-0.962950,-0.203292],[0.963649,0.211729,-0.162947],[0.199953,-0.167028,0.965464]]
2025-10-27T15:01:56.850Z,1761577316.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.53 m.
2025-10-27T15:01:56.864Z,1761577316.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.531677 m,
      nav range: 469.910706 m,
      bearing: 76.697254 deg,
      approach rate: -0.695987 m/s,
      LOS rate: 0.002524 deg/s,
      cmd heading: 77.946399 deg,
      new cmd heading: 77.949485 deg.

2025-10-27T15:01:56.864Z,1761577316.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360475 target range: 492.531677 and range: 494.60 m.
2025-10-27T15:01:56.000Z,1761577317.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257652
2025-10-27T15:01:57.255Z,1761577317.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512418
2025-10-27T15:01:57.316Z,1761577317.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178081,-0.962622,-0.204075],[0.963277,0.212892,-0.163629],[0.200959,-0.167441,0.965183]]
2025-10-27T15:01:57.393Z,1761577317.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.53 m.
2025-10-27T15:01:57.400Z,1761577317.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.531677 m,
      nav range: 469.518860 m,
      bearing: 76.701337 deg,
      approach rate: -0.721501 m/s,
      LOS rate: 0.007523 deg/s,
      cmd heading: 77.949486 deg,
      new cmd heading: 77.961743 deg.

2025-10-27T15:01:57.401Z,1761577317.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360689 target range: 492.531677 and range: 494.60 m.
2025-10-27T15:01:57.504Z,1761577317.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761882
2025-10-27T15:01:57.757Z,1761577317.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014324
2025-10-27T15:01:57.869Z,1761577317.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182154,-0.960901,-0.208543],[0.962560,0.217561,-0.161697],[0.200746,-0.171281,0.964554]]
2025-10-27T15:01:57.902Z,1761577317.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.53 m.
2025-10-27T15:01:57.905Z,1761577317.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.531677 m,
      nav range: 469.165497 m,
      bearing: 76.705215 deg,
      approach rate: -0.694124 m/s,
      LOS rate: 0.007623 deg/s,
      cmd heading: 77.961739 deg,
      new cmd heading: 77.973382 deg.

2025-10-27T15:01:57.906Z,1761577317.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360892 target range: 492.531677 and range: 494.60 m.
2025-10-27T15:01:58.008Z,1761577318.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265686
2025-10-27T15:01:58.263Z,1761577318.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519812
2025-10-27T15:01:58.375Z,1761577318.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184462,-0.960141,-0.210010],[0.962067,0.220092,-0.161207],[0.201003,-0.172307,0.964318]]
2025-10-27T15:01:58.442Z,1761577318.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:01:58.444Z,1761577318.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.53 m.
2025-10-27T15:01:58.447Z,1761577318.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.531677 m,
      nav range: 468.825317 m,
      bearing: 76.710487 deg,
      approach rate: -0.627922 m/s,
      LOS rate: 0.009739 deg/s,
      cmd heading: 77.973385 deg,
      new cmd heading: 77.989213 deg.

2025-10-27T15:01:58.448Z,1761577318.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361169 target range: 492.531677 and range: 494.60 m.
2025-10-27T15:01:58.512Z,1761577318.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769820
2025-10-27T15:01:58.767Z,1761577318.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025012
2025-10-27T15:01:58.869Z,1761577318.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187823,-0.959279,-0.210963],[0.961564,0.223385,-0.159670],[0.200294,-0.172865,0.964365]]
2025-10-27T15:01:58.901Z,1761577318.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.53 m.
2025-10-27T15:01:58.904Z,1761577318.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.531677 m,
      nav range: 468.537781 m,
      bearing: 76.715073 deg,
      approach rate: -0.629696 m/s,
      LOS rate: 0.010049 deg/s,
      cmd heading: 77.989210 deg,
      new cmd heading: 78.002976 deg.

2025-10-27T15:01:58.904Z,1761577318.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361409 target range: 492.531677 and range: 494.60 m.
2025-10-27T15:01:59.016Z,1761577319.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273933
2025-10-27T15:01:59.268Z,1761577319.268 [DAT](INFO): DAT read: Rx Time:15:01:57.8347

2025-10-27T15:01:59.268Z,1761577319.268 [DAT](INFO): Rx dataTimestamp_ set to:1761577319.268216
2025-10-27T15:01:59.269Z,1761577319.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526790
2025-10-27T15:01:59.282Z,1761577319.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190549,-0.958768,-0.210844],[0.961231,0.225834,-0.158221],[0.199313,-0.172521,0.964630]]
2025-10-27T15:01:59.378Z,1761577319.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.53 m.
2025-10-27T15:01:59.385Z,1761577319.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.531677 m,
      nav range: 468.241669 m,
      bearing: 76.719902 deg,
      approach rate: -0.619905 m/s,
      LOS rate: 0.010118 deg/s,
      cmd heading: 78.002973 deg,
      new cmd heading: 78.017472 deg.

2025-10-27T15:01:59.386Z,1761577319.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361662 target range: 492.531677 and range: 494.60 m.
2025-10-27T15:01:59.520Z,1761577319.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777576
2025-10-27T15:01:59.674Z,1761577319.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193996,-0.958080,-0.210829],[0.960752,0.228993,-0.156579],[0.198294,-0.172179,0.964901]]
2025-10-27T15:01:59.765Z,1761577319.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.53 m.
2025-10-27T15:01:59.768Z,1761577319.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.531677 m,
      nav range: 468.009766 m,
      bearing: 76.724109 deg,
      approach rate: -0.600174 m/s,
      LOS rate: 0.010892 deg/s,
      cmd heading: 78.017474 deg,
      new cmd heading: 78.030100 deg.

2025-10-27T15:01:59.769Z,1761577319.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361882 target range: 492.531677 and range: 494.60 m.
2025-10-27T15:01:59.777Z,1761577319.777 [DAT](INFO): DAT read: 15:01:57.8347 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 312, 0.03, 1.522,-0.010, 1.757, 1.208, PHS= 0.416,-1.173, 0.505, RAW= 152.7,   3.1, CAL= 151.6,   2.8, ROT= 358.4,  -2.8

2025-10-27T15:01:59.778Z,1761577319.778 [DAT](INFO): got valid direction response:
 15:01:57.8347 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 312, 0.03, 1.522,-0.010, 1.757, 1.208, PHS= 0.416,-1.173, 0.505, RAW= 152.7,   3.1, CAL= 151.6,   2.8, ROT= 358.4,  -2.8

2025-10-27T15:01:59.780Z,1761577319.780 [DAT](INFO): DAT read: Bearing 226.0,   9.4 (Local)

2025-10-27T15:01:59.780Z,1761577319.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.0,   9.4 (Local)

2025-10-27T15:01:59.781Z,1761577319.781 [DAT](INFO): DAT read: Range 11 to 50 : 492.2 m  (Round-trip  656.3 ms) speed  0.4 m/s

2025-10-27T15:01:59.782Z,1761577319.782 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:01:59.804Z,1761577319.804 [DAT](INFO): direction in FSK: [0.998417,-0.027888,0.048850]
2025-10-27T15:01:59.804Z,1761577319.804 [DAT](INFO): publishing direction and range info
2025-10-27T15:01:59.815Z,1761577319.815 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:01:59.815Z,1761577319.815 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:01:59.816Z,1761577319.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:00.024Z,1761577320.024 [DAT](INFO): DAT read: user:863>

2025-10-27T15:02:00.025Z,1761577320.025 [DAT](INFO): DAT read: Tx time:15:01:59.0743

2025-10-27T15:02:00.025Z,1761577320.025 [DAT](INFO): Ping request sent.
2025-10-27T15:02:00.025Z,1761577320.025 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:02:00.025Z,1761577320.025 [DAT](INFO): publishing transmit ping time
2025-10-27T15:02:00.026Z,1761577320.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-27T15:02:00.078Z,1761577320.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197324,-0.957256,-0.211480],[0.960305,0.232129,-0.154697],[0.197176,-0.172560,0.965062]]
2025-10-27T15:02:00.112Z,1761577320.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 492.200012 m,
      deltaT: 4.282564 s,
      deltaX: -2.399994 m,
      approachRate: -0.560410 m/s,
      rangeRepo size: 4

2025-10-27T15:02:00.114Z,1761577320.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 490.134430 m,
      bearing: 77.272982 deg,
      lat: 36.778947 deg,
      lon: -121.859558 deg,
      deltaT: 4.282564 s,
      deltaX: -2.397247 m,
      approachRate: -0.559769 m/s,
      posRepo size: 4

2025-10-27T15:02:00.115Z,1761577320.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:00.117Z,1761577320.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 467.943115 m,
      bearing: 77.083979 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010892 deg/s,
      cmd heading: 78.030103 deg,
      new cmd heading: 78.041420 deg.

2025-10-27T15:02:00.118Z,1761577320.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362080 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:00.281Z,1761577320.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253298
2025-10-27T15:02:00.499Z,1761577320.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200667,-0.956388,-0.212262],[0.959845,0.235295,-0.152754],[0.196036,-0.173086,0.965200]]
2025-10-27T15:02:00.528Z,1761577320.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502947
2025-10-27T15:02:00.542Z,1761577320.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:00.544Z,1761577320.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:00.547Z,1761577320.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 467.680084 m,
      bearing: 77.088120 deg,
      approach rate: -0.607071 m/s,
      LOS rate: 0.009562 deg/s,
      cmd heading: 78.041420 deg,
      new cmd heading: 78.053850 deg.

2025-10-27T15:02:00.548Z,1761577320.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362297 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:00.781Z,1761577320.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755563
2025-10-27T15:02:00.885Z,1761577320.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203323,-0.955835,-0.212226],[0.959445,0.237728,-0.151493],[0.195254,-0.172817,0.965407]]
2025-10-27T15:02:00.927Z,1761577320.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:00.929Z,1761577320.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 467.453857 m,
      bearing: 77.091761 deg,
      approach rate: -0.591930 m/s,
      LOS rate: 0.009534 deg/s,
      cmd heading: 78.053851 deg,
      new cmd heading: 78.064782 deg.

2025-10-27T15:02:00.930Z,1761577320.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362487 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:01.032Z,1761577321.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006922
2025-10-27T15:02:01.284Z,1761577321.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258941
2025-10-27T15:02:01.296Z,1761577321.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205939,-0.955242,-0.212372],[0.959032,0.240163,-0.150261],[0.194539,-0.172727,0.965567]]
2025-10-27T15:02:01.383Z,1761577321.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:01.386Z,1761577321.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 467.214111 m,
      bearing: 77.095705 deg,
      approach rate: -0.525729 m/s,
      LOS rate: 0.008651 deg/s,
      cmd heading: 78.064780 deg,
      new cmd heading: 78.076615 deg.

2025-10-27T15:02:01.387Z,1761577321.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362694 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:01.536Z,1761577321.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510896
2025-10-27T15:02:01.791Z,1761577321.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766321
2025-10-27T15:02:01.866Z,1761577321.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209623,-0.954582,-0.211736],[0.958419,0.243478,-0.148835],[0.193628,-0.171733,0.965928]]
2025-10-27T15:02:01.927Z,1761577321.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:01.930Z,1761577321.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 466.848969 m,
      bearing: 77.099863 deg,
      approach rate: -0.675909 m/s,
      LOS rate: 0.007704 deg/s,
      cmd heading: 78.076616 deg,
      new cmd heading: 78.089103 deg.

2025-10-27T15:02:01.931Z,1761577321.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362912 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:02.040Z,1761577322.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862
2025-10-27T15:02:02.294Z,1761577322.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269080
2025-10-27T15:02:02.403Z,1761577322.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210878,-0.954069,-0.212799],[0.958262,0.244758,-0.147743],[0.193042,-0.172761,0.965861]]
2025-10-27T15:02:02.454Z,1761577322.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:02.457Z,1761577322.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 466.499146 m,
      bearing: 77.100771 deg,
      approach rate: -0.658630 m/s,
      LOS rate: 0.001709 deg/s,
      cmd heading: 78.089102 deg,
      new cmd heading: 78.091826 deg.

2025-10-27T15:02:02.458Z,1761577322.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362960 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:02.544Z,1761577322.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518811
2025-10-27T15:02:02.796Z,1761577322.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771445
2025-10-27T15:02:02.892Z,1761577322.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211452,-0.954180,-0.211726],[0.958220,0.245073,-0.147488],[0.192618,-0.171693,0.966136]]
2025-10-27T15:02:02.929Z,1761577322.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:02.935Z,1761577322.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:02.938Z,1761577322.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 466.203094 m,
      bearing: 77.101566 deg,
      approach rate: -0.620945 m/s,
      LOS rate: 0.001669 deg/s,
      cmd heading: 78.091827 deg,
      new cmd heading: 78.094215 deg.

2025-10-27T15:02:02.938Z,1761577322.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363001 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:03.050Z,1761577323.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025001
2025-10-27T15:02:03.300Z,1761577323.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274895
2025-10-27T15:02:03.408Z,1761577323.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211516,-0.954406,-0.210643],[0.958283,0.244900,-0.147369],[0.192236,-0.170684,0.966391]]
2025-10-27T15:02:03.461Z,1761577323.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:03.464Z,1761577323.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 465.813934 m,
      bearing: 77.101198 deg,
      approach rate: -0.733263 m/s,
      LOS rate: -0.000693 deg/s,
      cmd heading: 78.094218 deg,
      new cmd heading: 78.093114 deg.

2025-10-27T15:02:03.465Z,1761577323.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362982 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:03.561Z,1761577323.561 [DAT](INFO): DAT read: 15:02:02.1328 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 425,-0.02, 1.547,-0.048, 1.716, 1.142, PHS= 0.507,-1.146, 0.530, RAW= 150.7,   1.3, CAL= 149.5,   0.9, ROT=   0.5,  -0.9

2025-10-27T15:02:03.562Z,1761577323.562 [DAT](INFO): got valid direction response:
 15:02:02.1328 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 425,-0.02, 1.547,-0.048, 1.716, 1.142, PHS= 0.507,-1.146, 0.530, RAW= 150.7,   1.3, CAL= 149.5,   0.9, ROT=   0.5,  -0.9

2025-10-27T15:02:03.563Z,1761577323.563 [DAT](INFO): DAT read: Rx Time:15:02:02.1328

2025-10-27T15:02:03.564Z,1761577323.564 [DAT](INFO): Rx dataTimestamp_ set to:1761577323.563421
2025-10-27T15:02:03.564Z,1761577323.564 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-27T15:02:03.565Z,1761577323.565 [DAT](INFO): Received low SNR in chirp
2025-10-27T15:02:03.579Z,1761577323.579 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T15:02:03.580Z,1761577323.580 [DAT](INFO): direction in FSK: [0.999839,0.008725,0.015707]
2025-10-27T15:02:03.589Z,1761577323.589 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:03.589Z,1761577323.589 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:03.590Z,1761577323.590 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:03.804Z,1761577323.804 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:03.804Z,1761577323.804 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:03.804Z,1761577323.804 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:03.806Z,1761577323.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211015,-0.954744,-0.209612],[0.958494,0.244164,-0.147216],[0.191733,-0.169848,0.966639]]
2025-10-27T15:02:03.838Z,1761577323.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:03.842Z,1761577323.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 465.554352 m,
      bearing: 77.100939 deg,
      approach rate: -0.690078 m/s,
      LOS rate: -0.000691 deg/s,
      cmd heading: 78.093111 deg,
      new cmd heading: 78.092331 deg.

2025-10-27T15:02:03.868Z,1761577323.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362968 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:04.056Z,1761577324.056 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:04.056Z,1761577324.056 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:04.056Z,1761577324.056 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:04.202Z,1761577324.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209742,-0.955422,-0.207793],[0.958870,0.242561,-0.147417],[0.191248,-0.168327,0.967001]]
2025-10-27T15:02:04.240Z,1761577324.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:04.243Z,1761577324.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 465.269501 m,
      bearing: 77.100611 deg,
      approach rate: -0.707562 m/s,
      LOS rate: -0.000813 deg/s,
      cmd heading: 78.092333 deg,
      new cmd heading: 78.091351 deg.

2025-10-27T15:02:04.244Z,1761577324.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362951 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:04.308Z,1761577324.308 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:04.308Z,1761577324.308 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:04.309Z,1761577324.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:04.560Z,1761577324.560 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:04.560Z,1761577324.560 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:04.560Z,1761577324.560 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:04.612Z,1761577324.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208703,-0.955917,-0.206555],[0.959253,0.241222,-0.147122],[0.190462,-0.167434,0.967311]]
2025-10-27T15:02:04.669Z,1761577324.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:04.672Z,1761577324.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 464.947632 m,
      bearing: 77.099277 deg,
      approach rate: -0.750494 m/s,
      LOS rate: -0.003115 deg/s,
      cmd heading: 78.091349 deg,
      new cmd heading: 78.087341 deg.

2025-10-27T15:02:04.673Z,1761577324.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362881 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:04.811Z,1761577324.811 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:04.812Z,1761577324.812 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:04.812Z,1761577324.812 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:05.006Z,1761577325.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207024,-0.956528,-0.205417],[0.959757,0.239290,-0.146991],[0.189755,-0.166720,0.967573]]
2025-10-27T15:02:05.022Z,1761577325.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:05.037Z,1761577325.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:05.044Z,1761577325.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 464.684814 m,
      bearing: 77.098129 deg,
      approach rate: -0.714550 m/s,
      LOS rate: -0.003121 deg/s,
      cmd heading: 78.087340 deg,
      new cmd heading: 78.083897 deg.

2025-10-27T15:02:05.045Z,1761577325.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362821 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:05.064Z,1761577325.064 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:05.064Z,1761577325.064 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:05.064Z,1761577325.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:05.317Z,1761577325.317 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:05.317Z,1761577325.317 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:05.318Z,1761577325.318 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:05.450Z,1761577325.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205115,-0.957410,-0.203207],[0.960335,0.236945,-0.147018],[0.188906,-0.164991,0.968035]]
2025-10-27T15:02:05.526Z,1761577325.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:05.533Z,1761577325.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 464.301941 m,
      bearing: 77.096097 deg,
      approach rate: -0.782910 m/s,
      LOS rate: -0.004159 deg/s,
      cmd heading: 78.083897 deg,
      new cmd heading: 78.077796 deg.

2025-10-27T15:02:05.534Z,1761577325.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362715 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:05.568Z,1761577325.568 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:05.568Z,1761577325.568 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:05.568Z,1761577325.568 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:05.820Z,1761577325.820 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:05.821Z,1761577325.821 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:05.821Z,1761577325.821 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:05.870Z,1761577325.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200528,-0.959203,-0.199295],[0.961578,0.231639,-0.147344],[0.187497,-0.162092,0.968799]]
2025-10-27T15:02:05.895Z,1761577325.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:05.898Z,1761577325.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 464.008026 m,
      bearing: 77.094365 deg,
      approach rate: -0.796698 m/s,
      LOS rate: -0.004697 deg/s,
      cmd heading: 78.077798 deg,
      new cmd heading: 78.072599 deg.

2025-10-27T15:02:05.899Z,1761577325.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362624 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:06.072Z,1761577326.072 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:06.072Z,1761577326.072 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:06.072Z,1761577326.072 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:06.283Z,1761577326.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:06.286Z,1761577326.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 463.705933 m,
      bearing: 77.092583 deg,
      approach rate: -0.778253 m/s,
      LOS rate: -0.004595 deg/s,
      cmd heading: 78.072600 deg,
      new cmd heading: 78.067249 deg.

2025-10-27T15:02:06.287Z,1761577326.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362531 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:06.325Z,1761577326.325 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:06.326Z,1761577326.326 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:06.326Z,1761577326.326 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:06.576Z,1761577326.576 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:06.576Z,1761577326.576 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:06.576Z,1761577326.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:06.660Z,1761577326.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196220,-0.961006,-0.194845],[0.962643,0.226605,-0.148219],[0.186593,-0.158483,0.969570]]
2025-10-27T15:02:06.704Z,1761577326.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:06.706Z,1761577326.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 463.377502 m,
      bearing: 77.091016 deg,
      approach rate: -0.780804 m/s,
      LOS rate: -0.003728 deg/s,
      cmd heading: 78.067252 deg,
      new cmd heading: 78.062548 deg.

2025-10-27T15:02:06.707Z,1761577326.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362448 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:06.828Z,1761577326.828 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:06.828Z,1761577326.828 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:06.829Z,1761577326.829 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:07.064Z,1761577327.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194775,-0.961842,-0.192152],[0.963032,0.224701,-0.148591],[0.186097,-0.156106,0.970051]]
2025-10-27T15:02:07.080Z,1761577327.080 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:07.080Z,1761577327.080 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:07.080Z,1761577327.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:07.081Z,1761577327.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:07.084Z,1761577327.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:07.087Z,1761577327.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 463.081696 m,
      bearing: 77.089550 deg,
      approach rate: -0.777365 m/s,
      LOS rate: -0.003856 deg/s,
      cmd heading: 78.062546 deg,
      new cmd heading: 78.058144 deg.

2025-10-27T15:02:07.088Z,1761577327.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362372 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:07.332Z,1761577327.332 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:07.332Z,1761577327.332 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:07.333Z,1761577327.333 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:07.472Z,1761577327.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193398,-0.962510,-0.190188],[0.963373,0.223001,-0.148939],[0.185768,-0.154417,0.970384]]
2025-10-27T15:02:07.518Z,1761577327.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:07.520Z,1761577327.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 462.743134 m,
      bearing: 77.088511 deg,
      approach rate: -0.781117 m/s,
      LOS rate: -0.002397 deg/s,
      cmd heading: 78.058141 deg,
      new cmd heading: 78.055024 deg.

2025-10-27T15:02:07.521Z,1761577327.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362317 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:07.584Z,1761577327.584 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:07.584Z,1761577327.584 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:07.584Z,1761577327.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:07.643Z,1761577327.643 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:02:07.836Z,1761577327.836 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:07.836Z,1761577327.836 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:07.837Z,1761577327.837 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:07.879Z,1761577327.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192550,-0.962793,-0.189615],[0.963598,0.222039,-0.148918],[0.185479,-0.154039,0.970500]]
2025-10-27T15:02:07.913Z,1761577327.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:07.919Z,1761577327.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 462.448669 m,
      bearing: 77.087575 deg,
      approach rate: -0.745081 m/s,
      LOS rate: -0.002371 deg/s,
      cmd heading: 78.055026 deg,
      new cmd heading: 78.052215 deg.

2025-10-27T15:02:07.920Z,1761577327.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362268 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:08.088Z,1761577328.088 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:08.088Z,1761577328.088 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:08.088Z,1761577328.088 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:08.273Z,1761577328.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192237,-0.962794,-0.189927],[0.963670,0.221775,-0.148850],[0.185433,-0.154412,0.970449]]
2025-10-27T15:02:08.291Z,1761577328.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:08.294Z,1761577328.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 462.142181 m,
      bearing: 77.086586 deg,
      approach rate: -0.810003 m/s,
      LOS rate: -0.002615 deg/s,
      cmd heading: 78.052212 deg,
      new cmd heading: 78.049244 deg.

2025-10-27T15:02:08.295Z,1761577328.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362216 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:08.340Z,1761577328.340 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:08.340Z,1761577328.340 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:08.340Z,1761577328.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:08.592Z,1761577328.592 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:08.592Z,1761577328.592 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:08.592Z,1761577328.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:08.648Z,1761577328.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:02:08.670Z,1761577328.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192916,-0.962512,-0.190667],[0.963414,0.222652,-0.149196],[0.186055,-0.154909,0.970251]]
2025-10-27T15:02:08.733Z,1761577328.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:08.741Z,1761577328.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 461.827820 m,
      bearing: 77.086755 deg,
      approach rate: -0.711916 m/s,
      LOS rate: 0.000384 deg/s,
      cmd heading: 78.049241 deg,
      new cmd heading: 78.049750 deg.

2025-10-27T15:02:08.755Z,1761577328.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362225 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:08.844Z,1761577328.844 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:08.844Z,1761577328.844 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:08.844Z,1761577328.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:09.078Z,1761577329.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193872,-0.962079,-0.191877],[0.963194,0.223795,-0.148905],[0.186199,-0.155946,0.970057]]
2025-10-27T15:02:09.094Z,1761577329.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:09.096Z,1761577329.096 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:09.096Z,1761577329.096 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:09.096Z,1761577329.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:09.098Z,1761577329.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:09.100Z,1761577329.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 461.532349 m,
      bearing: 77.086952 deg,
      approach rate: -0.809903 m/s,
      LOS rate: 0.000539 deg/s,
      cmd heading: 78.049746 deg,
      new cmd heading: 78.050336 deg.

2025-10-27T15:02:09.101Z,1761577329.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362235 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:09.348Z,1761577329.348 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:09.348Z,1761577329.348 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:09.348Z,1761577329.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:09.507Z,1761577329.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195258,-0.961208,-0.194815],[0.963030,0.225500,-0.147390],[0.185603,-0.158834,0.969703]]
2025-10-27T15:02:09.564Z,1761577329.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:09.566Z,1761577329.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 461.195618 m,
      bearing: 77.087988 deg,
      approach rate: -0.722509 m/s,
      LOS rate: 0.002224 deg/s,
      cmd heading: 78.050334 deg,
      new cmd heading: 78.053443 deg.

2025-10-27T15:02:09.575Z,1761577329.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362290 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:09.600Z,1761577329.600 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:09.600Z,1761577329.600 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:09.600Z,1761577329.600 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:09.857Z,1761577329.857 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:02:09.857Z,1761577329.857 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:02:09.857Z,1761577329.857 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:02:09.896Z,1761577329.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196581,-0.960510,-0.196915],[0.962805,0.227072,-0.146437],[0.185368,-0.160804,0.969423]]
2025-10-27T15:02:09.914Z,1761577329.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:09.917Z,1761577329.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 460.927155 m,
      bearing: 77.088860 deg,
      approach rate: -0.765419 m/s,
      LOS rate: 0.002489 deg/s,
      cmd heading: 78.053442 deg,
      new cmd heading: 78.056061 deg.

2025-10-27T15:02:09.918Z,1761577329.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362335 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:10.104Z,1761577330.104 [DAT](INFO): Reached modem response timeout
2025-10-27T15:02:10.104Z,1761577330.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:10.104Z,1761577330.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:10.290Z,1761577330.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197528,-0.960092,-0.198005],[0.962601,0.228170,-0.146075],[0.185424,-0.161745,0.969256]]
2025-10-27T15:02:10.346Z,1761577330.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:10.348Z,1761577330.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 460.611969 m,
      bearing: 77.089925 deg,
      approach rate: -0.730814 m/s,
      LOS rate: 0.002470 deg/s,
      cmd heading: 78.056064 deg,
      new cmd heading: 78.059260 deg.

2025-10-27T15:02:10.349Z,1761577330.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362391 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:10.356Z,1761577330.356 [DAT](INFO): DAT read: 

2025-10-27T15:02:10.356Z,1761577330.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:10.608Z,1761577330.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:10.754Z,1761577330.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199162,-0.959487,-0.199296],[0.962366,0.229868,-0.144954],[0.184894,-0.162927,0.969159]]
2025-10-27T15:02:10.773Z,1761577330.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:10.776Z,1761577330.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 460.292328 m,
      bearing: 77.091073 deg,
      approach rate: -0.747637 m/s,
      LOS rate: 0.002687 deg/s,
      cmd heading: 78.059261 deg,
      new cmd heading: 78.062707 deg.

2025-10-27T15:02:10.777Z,1761577330.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362451 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:10.860Z,1761577330.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:11.112Z,1761577331.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:11.145Z,1761577331.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200479,-0.958858,-0.200996],[0.962178,0.231331,-0.143870],[0.184448,-0.164551,0.968970]]
2025-10-27T15:02:11.163Z,1761577331.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:11.165Z,1761577331.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:11.168Z,1761577331.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 460.003052 m,
      bearing: 77.092162 deg,
      approach rate: -0.738462 m/s,
      LOS rate: 0.002782 deg/s,
      cmd heading: 78.062710 deg,
      new cmd heading: 78.065980 deg.

2025-10-27T15:02:11.169Z,1761577331.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362508 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:11.364Z,1761577331.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:11.572Z,1761577331.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201661,-0.958192,-0.202980],[0.961983,0.232733,-0.142915],[0.184180,-0.166443,0.968697]]
2025-10-27T15:02:11.616Z,1761577331.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:11.625Z,1761577331.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:11.627Z,1761577331.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 459.664185 m,
      bearing: 77.093491 deg,
      approach rate: -0.737155 m/s,
      LOS rate: 0.002894 deg/s,
      cmd heading: 78.065982 deg,
      new cmd heading: 78.069973 deg.

2025-10-27T15:02:11.628Z,1761577331.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362578 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:11.869Z,1761577331.869 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:11.973Z,1761577331.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202892,-0.957736,-0.203901],[0.961768,0.234029,-0.142240],[0.183947,-0.167246,0.968603]]
2025-10-27T15:02:12.006Z,1761577332.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:12.009Z,1761577332.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 459.381317 m,
      bearing: 77.094647 deg,
      approach rate: -0.742167 m/s,
      LOS rate: 0.003035 deg/s,
      cmd heading: 78.069971 deg,
      new cmd heading: 78.073441 deg.

2025-10-27T15:02:12.009Z,1761577332.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362639 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:12.120Z,1761577332.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:12.372Z,1761577332.372 [DAT](INFO): DAT read: Response Not Received

2025-10-27T15:02:12.372Z,1761577332.372 [DAT](INFO): response not received
2025-10-27T15:02:12.373Z,1761577332.373 [DAT](INFO): DAT read: user:865>Tx time:15:02:11.5243

2025-10-27T15:02:12.373Z,1761577332.373 [DAT](ERROR): No response from remote modem.
2025-10-27T15:02:12.374Z,1761577332.374 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:12.374Z,1761577332.374 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:12.382Z,1761577332.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203581,-0.957616,-0.203782],[0.961595,0.234707,-0.142292],[0.184090,-0.166988,0.968621]]
2025-10-27T15:02:12.403Z,1761577332.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:12.418Z,1761577332.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 459.088806 m,
      bearing: 77.095870 deg,
      approach rate: -0.737134 m/s,
      LOS rate: 0.003085 deg/s,
      cmd heading: 78.073440 deg,
      new cmd heading: 78.077113 deg.

2025-10-27T15:02:12.423Z,1761577332.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362703 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:12.624Z,1761577332.624 [DAT](INFO): DAT read: 

2025-10-27T15:02:12.624Z,1761577332.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:12.779Z,1761577332.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204117,-0.957432,-0.204109],[0.961436,0.235319,-0.142358],[0.184329,-0.167180,0.968542]]
2025-10-27T15:02:12.840Z,1761577332.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:12.843Z,1761577332.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 458.793213 m,
      bearing: 77.097827 deg,
      approach rate: -0.675092 m/s,
      LOS rate: 0.004472 deg/s,
      cmd heading: 78.077115 deg,
      new cmd heading: 78.082989 deg.

2025-10-27T15:02:12.844Z,1761577332.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362805 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:12.876Z,1761577332.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:13.128Z,1761577333.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:13.187Z,1761577333.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204184,-0.957411,-0.204140],[0.961334,0.235469,-0.142800],[0.184787,-0.167089,0.968470]]
2025-10-27T15:02:13.203Z,1761577333.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:13.205Z,1761577333.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:13.208Z,1761577333.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 458.547455 m,
      bearing: 77.099459 deg,
      approach rate: -0.673072 m/s,
      LOS rate: 0.004472 deg/s,
      cmd heading: 78.082989 deg,
      new cmd heading: 78.087887 deg.

2025-10-27T15:02:13.209Z,1761577333.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362891 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:13.381Z,1761577333.381 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:13.587Z,1761577333.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204779,-0.957117,-0.204918],[0.961160,0.236207,-0.142749],[0.185031,-0.167727,0.968314]]
2025-10-27T15:02:13.623Z,1761577333.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:13.626Z,1761577333.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 458.273468 m,
      bearing: 77.101176 deg,
      approach rate: -0.656583 m/s,
      LOS rate: 0.004117 deg/s,
      cmd heading: 78.087886 deg,
      new cmd heading: 78.093040 deg.

2025-10-27T15:02:13.627Z,1761577333.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362981 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:13.632Z,1761577333.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:13.884Z,1761577333.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:13.990Z,1761577333.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204950,-0.957029,-0.205160],[0.961054,0.236473,-0.143025],[0.185394,-0.167857,0.968222]]
2025-10-27T15:02:14.007Z,1761577334.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:14.010Z,1761577334.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 458.021210 m,
      bearing: 77.102764 deg,
      approach rate: -0.656290 m/s,
      LOS rate: 0.004135 deg/s,
      cmd heading: 78.093043 deg,
      new cmd heading: 78.097811 deg.

2025-10-27T15:02:14.011Z,1761577334.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363064 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:14.136Z,1761577334.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:14.388Z,1761577334.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:14.398Z,1761577334.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205074,-0.957045,-0.204962],[0.960946,0.236637,-0.143476],[0.185815,-0.167534,0.968197]]
2025-10-27T15:02:14.416Z,1761577334.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:14.419Z,1761577334.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 457.752777 m,
      bearing: 77.104462 deg,
      approach rate: -0.655865 m/s,
      LOS rate: 0.004150 deg/s,
      cmd heading: 78.097810 deg,
      new cmd heading: 78.102907 deg.

2025-10-27T15:02:14.420Z,1761577334.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363153 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:14.641Z,1761577334.641 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:14.804Z,1761577334.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205672,-0.956871,-0.205175],[0.960780,0.237286,-0.143520],[0.186015,-0.167610,0.968145]]
2025-10-27T15:02:14.857Z,1761577334.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:14.860Z,1761577334.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 457.472717 m,
      bearing: 77.106630 deg,
      approach rate: -0.635595 m/s,
      LOS rate: 0.004924 deg/s,
      cmd heading: 78.102906 deg,
      new cmd heading: 78.109414 deg.

2025-10-27T15:02:14.861Z,1761577334.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363266 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:14.892Z,1761577334.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:15.144Z,1761577335.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:15.202Z,1761577335.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205752,-0.957006,-0.204464],[0.960620,0.237384,-0.144420],[0.186748,-0.166698,0.968162]]
2025-10-27T15:02:15.226Z,1761577335.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:15.228Z,1761577335.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:15.230Z,1761577335.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 457.237366 m,
      bearing: 77.108459 deg,
      approach rate: -0.634735 m/s,
      LOS rate: 0.004933 deg/s,
      cmd heading: 78.109415 deg,
      new cmd heading: 78.114903 deg.

2025-10-27T15:02:15.232Z,1761577335.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363362 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:15.396Z,1761577335.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:15.607Z,1761577335.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205833,-0.957127,-0.203817],[0.960501,0.237457,-0.145097],[0.187274,-0.165901,0.968197]]
2025-10-27T15:02:15.648Z,1761577335.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:15.651Z,1761577335.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:15.654Z,1761577335.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 456.970306 m,
      bearing: 77.110595 deg,
      approach rate: -0.631240 m/s,
      LOS rate: 0.005052 deg/s,
      cmd heading: 78.114900 deg,
      new cmd heading: 78.121311 deg.

2025-10-27T15:02:15.671Z,1761577335.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363474 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:15.900Z,1761577335.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:16.016Z,1761577336.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206597,-0.956801,-0.204571],[0.960317,0.238332,-0.144877],[0.187375,-0.166522,0.968071]]
2025-10-27T15:02:16.034Z,1761577336.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:16.037Z,1761577336.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 456.727356 m,
      bearing: 77.112564 deg,
      approach rate: -0.634506 m/s,
      LOS rate: 0.005146 deg/s,
      cmd heading: 78.121313 deg,
      new cmd heading: 78.127225 deg.

2025-10-27T15:02:16.038Z,1761577336.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363577 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:16.152Z,1761577336.152 [DAT](INFO): DAT read: Rx Time:15:02:14.5702

2025-10-27T15:02:16.152Z,1761577336.152 [DAT](INFO): Rx dataTimestamp_ set to:1761577336.152082
2025-10-27T15:02:16.153Z,1761577336.153 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:16.404Z,1761577336.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:16.415Z,1761577336.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207451,-0.956538,-0.204934],[0.960120,0.239230,-0.144703],[0.187440,-0.166743,0.968020]]
2025-10-27T15:02:16.495Z,1761577336.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.13 m.
2025-10-27T15:02:16.508Z,1761577336.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.134430 m,
      nav range: 456.460236 m,
      bearing: 77.114762 deg,
      approach rate: -0.579798 m/s,
      LOS rate: 0.004773 deg/s,
      cmd heading: 78.127228 deg,
      new cmd heading: 78.133826 deg.

2025-10-27T15:02:16.509Z,1761577336.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363693 target range: 490.134430 and range: 492.20 m.
2025-10-27T15:02:16.668Z,1761577336.668 [DAT](INFO): DAT read: 15:02:14.5702 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 312,-0.04,-2.575, 2.217,-2.324,-2.838, PHS= 0.365,-1.182, 0.471, RAW= 153.3,   4.4, CAL= 152.4,   4.2, ROT= 357.6,  -4.2

2025-10-27T15:02:16.669Z,1761577336.669 [DAT](INFO): got valid direction response:
 15:02:14.5702 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 312,-0.04,-2.575, 2.217,-2.324,-2.838, PHS= 0.365,-1.182, 0.471, RAW= 153.3,   4.4, CAL= 152.4,   4.2, ROT= 357.6,  -4.2

2025-10-27T15:02:16.670Z,1761577336.670 [DAT](INFO): DAT read: Bearing 223.0,   7.8 (Local)

2025-10-27T15:02:16.671Z,1761577336.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.0,   7.8 (Local)

2025-10-27T15:02:16.672Z,1761577336.672 [DAT](INFO): DAT read: Range 11 to 50 : 481.2 m  (Round-trip  641.7 ms) speed  0.8 m/s

2025-10-27T15:02:16.673Z,1761577336.673 [DAT](INFO): DAT read: user:866>Tx time:15:02:15.6743

2025-10-27T15:02:16.674Z,1761577336.674 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:16.675Z,1761577336.675 [DAT](INFO): direction in FSK: [0.996440,-0.041763,0.073238]
2025-10-27T15:02:16.676Z,1761577336.676 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:16.680Z,1761577336.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:16.680Z,1761577336.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:16.880Z,1761577336.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208062,-0.956450,-0.204727],[0.959940,0.239835,-0.144891],[0.187682,-0.166379,0.968036]]
2025-10-27T15:02:16.908Z,1761577336.908 [DAT](INFO): DAT read: 

2025-10-27T15:02:16.908Z,1761577336.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:16.965Z,1761577336.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 481.200012 m,
      deltaT: 16.884399 s,
      deltaX: -11.000000 m,
      approachRate: -0.651489 m/s,
      rangeRepo size: 4

2025-10-27T15:02:16.971Z,1761577336.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 479.125702 m,
      bearing: 76.061854 deg,
      lat: 36.778947 deg,
      lon: -121.859516 deg,
      deltaT: 16.884399 s,
      deltaX: -11.008728 m,
      approachRate: -0.652006 m/s,
      posRepo size: 4

2025-10-27T15:02:16.976Z,1761577336.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.13 m.
2025-10-27T15:02:16.978Z,1761577336.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.125702 m,
      nav range: 459.795258 m,
      bearing: 77.220763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004773 deg/s,
      cmd heading: 78.133826 deg,
      new cmd heading: 78.140552 deg.

2025-10-27T15:02:16.980Z,1761577336.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363810 target range: 479.125702 and range: 481.20 m.
2025-10-27T15:02:17.160Z,1761577337.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:17.352Z,1761577337.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208320,-0.956498,-0.204243],[0.959785,0.240101,-0.145481],[0.188191,-0.165722,0.968050]]
2025-10-27T15:02:17.369Z,1761577337.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:17.371Z,1761577337.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.13 m.
2025-10-27T15:02:17.374Z,1761577337.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.125702 m,
      nav range: 459.527100 m,
      bearing: 77.222641 deg,
      approach rate: -0.659010 m/s,
      LOS rate: 0.004618 deg/s,
      cmd heading: 78.140554 deg,
      new cmd heading: 78.146191 deg.

2025-10-27T15:02:17.375Z,1761577337.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363908 target range: 479.125702 and range: 481.20 m.
2025-10-27T15:02:17.413Z,1761577337.413 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:17.664Z,1761577337.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:17.762Z,1761577337.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209019,-0.956256,-0.204661],[0.959600,0.240873,-0.145423],[0.188359,-0.165997,0.967970]]
2025-10-27T15:02:17.844Z,1761577337.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.13 m.
2025-10-27T15:02:17.846Z,1761577337.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.125702 m,
      nav range: 459.224945 m,
      bearing: 77.224568 deg,
      approach rate: -0.639590 m/s,
      LOS rate: 0.004082 deg/s,
      cmd heading: 78.146189 deg,
      new cmd heading: 78.151974 deg.

2025-10-27T15:02:17.847Z,1761577337.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364009 target range: 479.125702 and range: 481.20 m.
2025-10-27T15:02:17.916Z,1761577337.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:18.168Z,1761577338.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:18.305Z,1761577338.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208240,-0.956836,-0.202735],[0.959432,0.240114,-0.147769],[0.190071,-0.163739,0.968020]]
2025-10-27T15:02:18.348Z,1761577338.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.13 m.
2025-10-27T15:02:18.350Z,1761577338.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.125702 m,
      nav range: 458.910248 m,
      bearing: 77.226556 deg,
      approach rate: -0.624129 m/s,
      LOS rate: 0.003946 deg/s,
      cmd heading: 78.151974 deg,
      new cmd heading: 78.157942 deg.

2025-10-27T15:02:18.353Z,1761577338.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364113 target range: 479.125702 and range: 481.20 m.
2025-10-27T15:02:18.422Z,1761577338.422 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:18.672Z,1761577338.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:18.708Z,1761577338.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207632,-0.956912,-0.202997],[0.959506,0.239613,-0.148104],[0.190363,-0.164025,0.967914]]
2025-10-27T15:02:18.785Z,1761577338.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.13 m.
2025-10-27T15:02:18.792Z,1761577338.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.125702 m,
      nav range: 458.621002 m,
      bearing: 77.227603 deg,
      approach rate: -0.662200 m/s,
      LOS rate: 0.002397 deg/s,
      cmd heading: 78.157943 deg,
      new cmd heading: 78.161085 deg.

2025-10-27T15:02:18.795Z,1761577338.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364168 target range: 479.125702 and range: 481.20 m.
2025-10-27T15:02:18.924Z,1761577338.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:19.177Z,1761577339.177 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:19.255Z,1761577339.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206093,-0.957918,-0.199797],[0.959732,0.237706,-0.149700],[0.190894,-0.160899,0.968334]]
2025-10-27T15:02:19.277Z,1761577339.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.13 m.
2025-10-27T15:02:19.280Z,1761577339.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.125702 m,
      nav range: 458.279022 m,
      bearing: 77.228786 deg,
      approach rate: -0.694857 m/s,
      LOS rate: 0.002406 deg/s,
      cmd heading: 78.161085 deg,
      new cmd heading: 78.164637 deg.

2025-10-27T15:02:19.281Z,1761577339.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364230 target range: 479.125702 and range: 481.20 m.
2025-10-27T15:02:19.428Z,1761577339.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:19.660Z,1761577339.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204293,-0.958754,-0.197625],[0.960117,0.235613,-0.150538],[0.190892,-0.158989,0.968650]]
2025-10-27T15:02:19.680Z,1761577339.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:19.697Z,1761577339.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:19.719Z,1761577339.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.13 m.
2025-10-27T15:02:19.728Z,1761577339.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.125702 m,
      nav range: 457.982208 m,
      bearing: 77.229300 deg,
      approach rate: -0.703377 m/s,
      LOS rate: 0.001219 deg/s,
      cmd heading: 78.164637 deg,
      new cmd heading: 78.166180 deg.

2025-10-27T15:02:19.729Z,1761577339.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364257 target range: 479.125702 and range: 481.20 m.
2025-10-27T15:02:19.932Z,1761577339.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:20.061Z,1761577340.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202386,-0.959293,-0.196969],[0.960588,0.233597,-0.150673],[0.190551,-0.158712,0.968763]]
2025-10-27T15:02:20.091Z,1761577340.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.13 m.
2025-10-27T15:02:20.094Z,1761577340.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.125702 m,
      nav range: 457.710175 m,
      bearing: 77.229704 deg,
      approach rate: -0.693530 m/s,
      LOS rate: 0.001032 deg/s,
      cmd heading: 78.166181 deg,
      new cmd heading: 78.167395 deg.

2025-10-27T15:02:20.095Z,1761577340.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364278 target range: 479.125702 and range: 481.20 m.
2025-10-27T15:02:20.184Z,1761577340.184 [DAT](INFO): DAT read: Rx Time:15:02:18.7263

2025-10-27T15:02:20.184Z,1761577340.184 [DAT](INFO): Rx dataTimestamp_ set to:1761577340.184191
2025-10-27T15:02:20.185Z,1761577340.185 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:20.436Z,1761577340.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:20.544Z,1761577340.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.13 m.
2025-10-27T15:02:20.547Z,1761577340.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.125702 m,
      nav range: 457.402405 m,
      bearing: 77.230163 deg,
      approach rate: -0.680596 m/s,
      LOS rate: 0.001014 deg/s,
      cmd heading: 78.167396 deg,
      new cmd heading: 78.168772 deg.

2025-10-27T15:02:20.548Z,1761577340.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364302 target range: 479.125702 and range: 481.20 m.
2025-10-27T15:02:20.694Z,1761577340.694 [DAT](INFO): DAT read: 15:02:18.7263 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 394,-0.45, 1.639, 0.178, 1.904, 1.440, PHS= 0.301,-1.217, 0.419, RAW= 153.7,   6.3, CAL= 153.0,   6.5, ROT= 357.0,  -6.5

2025-10-27T15:02:20.696Z,1761577340.696 [DAT](INFO): got valid direction response:
 15:02:18.7263 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 394,-0.45, 1.639, 0.178, 1.904, 1.440, PHS= 0.301,-1.217, 0.419, RAW= 153.7,   6.3, CAL= 153.0,   6.5, ROT= 357.0,  -6.5

2025-10-27T15:02:20.698Z,1761577340.698 [DAT](INFO): DAT read: Bearing 225.4,   7.2 (Local)

2025-10-27T15:02:20.698Z,1761577340.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.4,   7.2 (Local)

2025-10-27T15:02:20.705Z,1761577340.705 [DAT](INFO): DAT read: Range 11 to 50 : 485.9 m  (Round-trip  647.9 ms) speed  0.5 m/s

2025-10-27T15:02:20.707Z,1761577340.707 [DAT](INFO): DAT read: user:867>Tx time:15:02:19.8243

2025-10-27T15:02:20.708Z,1761577340.708 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:20.709Z,1761577340.709 [DAT](INFO): direction in FSK: [0.992210,-0.052000,0.113203]
2025-10-27T15:02:20.709Z,1761577340.709 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:20.733Z,1761577340.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:20.734Z,1761577340.734 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:20.917Z,1761577340.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197341,-0.961234,-0.192576],[0.961721,0.227920,-0.152138],[0.190132,-0.155181,0.969417]]
2025-10-27T15:02:20.940Z,1761577340.940 [DAT](INFO): DAT read: 

2025-10-27T15:02:20.940Z,1761577340.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:20.961Z,1761577340.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 485.899994 m,
      deltaT: 4.032410 s,
      deltaX: 4.699982 m,
      approachRate: 1.165552 m/s,
      rangeRepo size: 4

2025-10-27T15:02:20.995Z,1761577340.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 483.774658 m,
      bearing: 76.390131 deg,
      lat: 36.778947 deg,
      lon: -121.859496 deg,
      deltaT: 4.032410 s,
      deltaX: 4.648956 m,
      approachRate: 1.152898 m/s,
      posRepo size: 4

2025-10-27T15:02:20.996Z,1761577340.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.77 m.
2025-10-27T15:02:20.999Z,1761577340.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 483.774658 m,
      nav range: 458.806763 m,
      bearing: 77.278544 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001014 deg/s,
      cmd heading: 78.168769 deg,
      new cmd heading: 78.170038 deg.

2025-10-27T15:02:21.015Z,1761577341.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364325 target range: 483.774658 and range: 485.90 m.
2025-10-27T15:02:21.192Z,1761577341.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:21.335Z,1761577341.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194500,-0.962250,-0.190379],[0.962324,0.224783,-0.152986],[0.190005,-0.153451,0.969717]]
2025-10-27T15:02:21.368Z,1761577341.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.77 m.
2025-10-27T15:02:21.371Z,1761577341.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 483.774658 m,
      nav range: 458.498474 m,
      bearing: 77.277787 deg,
      approach rate: -0.762532 m/s,
      LOS rate: -0.001873 deg/s,
      cmd heading: 78.170040 deg,
      new cmd heading: 78.167768 deg.

2025-10-27T15:02:21.372Z,1761577341.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364285 target range: 483.774658 and range: 485.90 m.
2025-10-27T15:02:21.444Z,1761577341.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:21.696Z,1761577341.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:21.744Z,1761577341.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191233,-0.963273,-0.188510],[0.963007,0.221278,-0.153796],[0.189861,-0.152126,0.969954]]
2025-10-27T15:02:21.803Z,1761577341.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:21.809Z,1761577341.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.77 m.
2025-10-27T15:02:21.829Z,1761577341.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 483.774658 m,
      nav range: 458.154114 m,
      bearing: 77.276322 deg,
      approach rate: -0.778717 m/s,
      LOS rate: -0.003317 deg/s,
      cmd heading: 78.167765 deg,
      new cmd heading: 78.163365 deg.

2025-10-27T15:02:21.830Z,1761577341.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364208 target range: 483.774658 and range: 485.90 m.
2025-10-27T15:02:21.948Z,1761577341.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:22.167Z,1761577342.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188074,-0.964227,-0.186802],[0.963667,0.217895,-0.154493],[0.189669,-0.150959,0.970174]]
2025-10-27T15:02:22.187Z,1761577342.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.77 m.
2025-10-27T15:02:22.189Z,1761577342.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 483.774658 m,
      nav range: 457.851013 m,
      bearing: 77.274909 deg,
      approach rate: -0.798112 m/s,
      LOS rate: -0.003724 deg/s,
      cmd heading: 78.163367 deg,
      new cmd heading: 78.159124 deg.

2025-10-27T15:02:22.190Z,1761577342.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364134 target range: 483.774658 and range: 485.90 m.
2025-10-27T15:02:22.200Z,1761577342.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:22.452Z,1761577342.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:22.569Z,1761577342.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185131,-0.965121,-0.185117],[0.964262,0.214735,-0.155201],[0.189539,-0.149769,0.970384]]
2025-10-27T15:02:22.603Z,1761577342.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.77 m.
2025-10-27T15:02:22.620Z,1761577342.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 483.774658 m,
      nav range: 457.535217 m,
      bearing: 77.273317 deg,
      approach rate: -0.788756 m/s,
      LOS rate: -0.003978 deg/s,
      cmd heading: 78.159125 deg,
      new cmd heading: 78.154347 deg.

2025-10-27T15:02:22.623Z,1761577342.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364051 target range: 483.774658 and range: 485.90 m.
2025-10-27T15:02:22.704Z,1761577342.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:22.956Z,1761577342.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:23.034Z,1761577343.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.77 m.
2025-10-27T15:02:23.037Z,1761577343.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 483.774658 m,
      nav range: 457.173035 m,
      bearing: 77.272126 deg,
      approach rate: -0.809969 m/s,
      LOS rate: -0.002665 deg/s,
      cmd heading: 78.154344 deg,
      new cmd heading: 78.150769 deg.

2025-10-27T15:02:23.038Z,1761577343.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363988 target range: 483.774658 and range: 485.90 m.
2025-10-27T15:02:23.208Z,1761577343.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:23.377Z,1761577343.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179298,-0.966385,-0.184260],[0.965353,0.208919,-0.156354],[0.189594,-0.149842,0.970362]]
2025-10-27T15:02:23.406Z,1761577343.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.77 m.
2025-10-27T15:02:23.412Z,1761577343.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 483.774658 m,
      nav range: 456.879150 m,
      bearing: 77.270936 deg,
      approach rate: -0.791164 m/s,
      LOS rate: -0.003207 deg/s,
      cmd heading: 78.150772 deg,
      new cmd heading: 78.147198 deg.

2025-10-27T15:02:23.413Z,1761577343.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363926 target range: 483.774658 and range: 485.90 m.
2025-10-27T15:02:23.462Z,1761577343.462 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:23.716Z,1761577343.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:23.794Z,1761577343.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176955,-0.966660,-0.185083],[0.965781,0.206772,-0.156565],[0.189615,-0.151045,0.970171]]
2025-10-27T15:02:23.837Z,1761577343.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:23.859Z,1761577343.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.77 m.
2025-10-27T15:02:23.862Z,1761577343.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 483.774658 m,
      nav range: 456.530365 m,
      bearing: 77.269339 deg,
      approach rate: -0.768587 m/s,
      LOS rate: -0.003522 deg/s,
      cmd heading: 78.147200 deg,
      new cmd heading: 78.142405 deg.

2025-10-27T15:02:23.875Z,1761577343.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363842 target range: 483.774658 and range: 485.90 m.
2025-10-27T15:02:23.968Z,1761577343.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:24.187Z,1761577344.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175073,-0.966656,-0.186886],[0.966116,0.205236,-0.156519],[0.189655,-0.153152,0.969833]]
2025-10-27T15:02:24.205Z,1761577344.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.77 m.
2025-10-27T15:02:24.208Z,1761577344.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 483.774658 m,
      nav range: 456.241852 m,
      bearing: 77.267945 deg,
      approach rate: -0.834198 m/s,
      LOS rate: -0.004033 deg/s,
      cmd heading: 78.142405 deg,
      new cmd heading: 78.138221 deg.

2025-10-27T15:02:24.209Z,1761577344.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363769 target range: 483.774658 and range: 485.90 m.
2025-10-27T15:02:24.220Z,1761577344.220 [DAT](INFO): DAT read: Rx Time:15:02:22.8508

2025-10-27T15:02:24.220Z,1761577344.220 [DAT](INFO): Rx dataTimestamp_ set to:1761577344.220169
2025-10-27T15:02:24.221Z,1761577344.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:24.472Z,1761577344.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:24.611Z,1761577344.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173988,-0.966354,-0.189442],[0.966355,0.204557,-0.155933],[0.189438,-0.155938,0.969431]]
2025-10-27T15:02:24.706Z,1761577344.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.77 m.
2025-10-27T15:02:24.726Z,1761577344.726 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:24.745Z,1761577344.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 483.774658 m,
      nav range: 455.885101 m,
      bearing: 77.266168 deg,
      approach rate: -0.713755 m/s,
      LOS rate: -0.003559 deg/s,
      cmd heading: 78.138218 deg,
      new cmd heading: 78.132882 deg.

2025-10-27T15:02:24.753Z,1761577344.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363676 target range: 483.774658 and range: 485.90 m.
2025-10-27T15:02:24.986Z,1761577344.986 [DAT](INFO): DAT read: 15:02:22.8508 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 178, 0.07, 1.304,-0.171, 1.590, 1.153, PHS= 0.253,-1.279, 0.393, RAW= 154.3,   7.9, CAL= 153.9,   8.4, ROT= 356.1,  -8.4

2025-10-27T15:02:24.000Z,1761577345.000 [DAT](INFO): got valid direction response:
 15:02:22.8508 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 178, 0.07, 1.304,-0.171, 1.590, 1.153, PHS= 0.253,-1.279, 0.393, RAW= 154.3,   7.9, CAL= 153.9,   8.4, ROT= 356.1,  -8.4

2025-10-27T15:02:25.001Z,1761577345.001 [DAT](INFO): DAT read: Bearing 227.9,   5.5 (Local)

2025-10-27T15:02:25.001Z,1761577345.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.9,   5.5 (Local)

2025-10-27T15:02:25.034Z,1761577345.034 [DAT](INFO): DAT read: Range 11 to 50 : 466.8 m  (Round-trip  622.4 ms) speed  0.4 m/s

2025-10-27T15:02:25.035Z,1761577345.035 [DAT](INFO): DAT read: user:868>Tx time:15:02:23.9243

2025-10-27T15:02:25.036Z,1761577345.036 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:25.037Z,1761577345.037 [DAT](INFO): direction in FSK: [0.986981,-0.067286,0.146083]
2025-10-27T15:02:25.037Z,1761577345.037 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:25.045Z,1761577345.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:25.046Z,1761577345.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:25.155Z,1761577345.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172171,-0.965229,-0.196698],[0.966613,0.204013,-0.155041],[0.189779,-0.163437,0.968128]]
2025-10-27T15:02:25.216Z,1761577345.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 466.799988 m,
      deltaT: 4.288346 s,
      deltaX: -19.100006 m,
      approachRate: -4.453933 m/s,
      rangeRepo size: 4

2025-10-27T15:02:25.218Z,1761577345.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 464.729462 m,
      bearing: 77.339243 deg,
      lat: 36.778947 deg,
      lon: -121.859496 deg,
      deltaT: 4.288346 s,
      deltaX: -19.045197 m,
      approachRate: -4.441152 m/s,
      posRepo size: 4

2025-10-27T15:02:25.223Z,1761577345.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.73 m.
2025-10-27T15:02:25.226Z,1761577345.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.729462 m,
      nav range: 455.481964 m,
      bearing: 77.266122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003559 deg/s,
      cmd heading: 78.132884 deg,
      new cmd heading: 78.127433 deg.

2025-10-27T15:02:25.228Z,1761577345.228 [DAT](INFO): DAT read: 

2025-10-27T15:02:25.228Z,1761577345.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:25.230Z,1761577345.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363581 target range: 464.729462 and range: 466.80 m.
2025-10-27T15:02:25.480Z,1761577345.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:25.733Z,1761577345.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:25.758Z,1761577345.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.73 m.
2025-10-27T15:02:25.765Z,1761577345.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.729462 m,
      nav range: 455.080200 m,
      bearing: 77.266077 deg,
      approach rate: -0.741100 m/s,
      LOS rate: -0.000084 deg/s,
      cmd heading: 78.127433 deg,
      new cmd heading: 78.127296 deg.

2025-10-27T15:02:25.765Z,1761577345.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363579 target range: 464.729462 and range: 466.80 m.
2025-10-27T15:02:25.984Z,1761577345.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:26.119Z,1761577346.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171856,-0.963927,-0.203249],[0.966565,0.204848,-0.154237],[0.190308,-0.169947,0.966903]]
2025-10-27T15:02:26.161Z,1761577346.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:26.164Z,1761577346.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.73 m.
2025-10-27T15:02:26.166Z,1761577346.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.729462 m,
      nav range: 454.769440 m,
      bearing: 77.267009 deg,
      approach rate: -0.765328 m/s,
      LOS rate: 0.002297 deg/s,
      cmd heading: 78.127296 deg,
      new cmd heading: 78.130095 deg.

2025-10-27T15:02:26.168Z,1761577346.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363627 target range: 464.729462 and range: 466.80 m.
2025-10-27T15:02:26.238Z,1761577346.238 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:26.492Z,1761577346.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:26.515Z,1761577346.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172379,-0.963414,-0.205230],[0.966443,0.205699,-0.153872],[0.190458,-0.171819,0.966542]]
2025-10-27T15:02:26.533Z,1761577346.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.73 m.
2025-10-27T15:02:26.536Z,1761577346.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.729462 m,
      nav range: 454.507812 m,
      bearing: 77.267815 deg,
      approach rate: -0.708098 m/s,
      LOS rate: 0.002183 deg/s,
      cmd heading: 78.130097 deg,
      new cmd heading: 78.132517 deg.

2025-10-27T15:02:26.537Z,1761577346.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363670 target range: 464.729462 and range: 466.80 m.
2025-10-27T15:02:26.745Z,1761577346.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:26.913Z,1761577346.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172814,-0.963172,-0.205998],[0.966298,0.206305,-0.153968],[0.190796,-0.172448,0.966364]]
2025-10-27T15:02:26.970Z,1761577346.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.73 m.
2025-10-27T15:02:26.977Z,1761577346.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.729462 m,
      nav range: 454.236023 m,
      bearing: 77.269399 deg,
      approach rate: -0.622745 m/s,
      LOS rate: 0.003633 deg/s,
      cmd heading: 78.132515 deg,
      new cmd heading: 78.137271 deg.

2025-10-27T15:02:26.978Z,1761577346.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363753 target range: 464.729462 and range: 466.80 m.
2025-10-27T15:02:26.996Z,1761577346.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:27.248Z,1761577347.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:27.318Z,1761577347.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174068,-0.962328,-0.208865],[0.966104,0.207951,-0.152968],[0.190639,-0.175159,0.965907]]
2025-10-27T15:02:27.356Z,1761577347.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.73 m.
2025-10-27T15:02:27.366Z,1761577347.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.729462 m,
      nav range: 453.983490 m,
      bearing: 77.270918 deg,
      approach rate: -0.653447 m/s,
      LOS rate: 0.003932 deg/s,
      cmd heading: 78.137268 deg,
      new cmd heading: 78.141828 deg.

2025-10-27T15:02:27.367Z,1761577347.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363832 target range: 464.729462 and range: 466.80 m.
2025-10-27T15:02:27.500Z,1761577347.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:27.754Z,1761577347.754 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:27.765Z,1761577347.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175756,-0.961918,-0.209341],[0.965829,0.209637,-0.152401],[0.190482,-0.175402,0.965894]]
2025-10-27T15:02:27.826Z,1761577347.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.73 m.
2025-10-27T15:02:27.829Z,1761577347.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.729462 m,
      nav range: 453.687714 m,
      bearing: 77.273489 deg,
      approach rate: -0.629849 m/s,
      LOS rate: 0.005479 deg/s,
      cmd heading: 78.141824 deg,
      new cmd heading: 78.149543 deg.

2025-10-27T15:02:27.830Z,1761577347.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363967 target range: 464.729462 and range: 466.80 m.
2025-10-27T15:02:28.004Z,1761577348.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:28.125Z,1761577348.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177703,-0.961802,-0.208229],[0.965499,0.211328,-0.152157],[0.190350,-0.174006,0.966172]]
2025-10-27T15:02:28.154Z,1761577348.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.73 m.
2025-10-27T15:02:28.157Z,1761577348.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.729462 m,
      nav range: 453.489136 m,
      bearing: 77.275267 deg,
      approach rate: -0.604357 m/s,
      LOS rate: 0.005413 deg/s,
      cmd heading: 78.149542 deg,
      new cmd heading: 78.154878 deg.

2025-10-27T15:02:28.158Z,1761577348.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364060 target range: 464.729462 and range: 466.80 m.
2025-10-27T15:02:28.256Z,1761577348.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:28.508Z,1761577348.508 [DAT](INFO): DAT read: Rx Time:15:02:26.9702

2025-10-27T15:02:28.508Z,1761577348.508 [DAT](INFO): Rx dataTimestamp_ set to:1761577348.508108
2025-10-27T15:02:28.509Z,1761577348.509 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:28.529Z,1761577348.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179209,-0.961488,-0.208385],[0.965215,0.212821,-0.151881],[0.190381,-0.173918,0.966182]]
2025-10-27T15:02:28.557Z,1761577348.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:28.564Z,1761577348.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.73 m.
2025-10-27T15:02:28.566Z,1761577348.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.729462 m,
      nav range: 453.251892 m,
      bearing: 77.277440 deg,
      approach rate: -0.579347 m/s,
      LOS rate: 0.005309 deg/s,
      cmd heading: 78.154877 deg,
      new cmd heading: 78.161398 deg.

2025-10-27T15:02:28.572Z,1761577348.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364174 target range: 464.729462 and range: 466.80 m.
2025-10-27T15:02:28.761Z,1761577348.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:28.933Z,1761577348.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181212,-0.961235,-0.207821],[0.964878,0.214643,-0.151453],[0.190190,-0.173077,0.966371]]
2025-10-27T15:02:28.985Z,1761577348.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.73 m.
2025-10-27T15:02:28.988Z,1761577348.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.729462 m,
      nav range: 452.997498 m,
      bearing: 77.279356 deg,
      approach rate: -0.603484 m/s,
      LOS rate: 0.004548 deg/s,
      cmd heading: 78.161400 deg,
      new cmd heading: 78.167151 deg.

2025-10-27T15:02:28.989Z,1761577348.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364274 target range: 464.729462 and range: 466.80 m.
2025-10-27T15:02:29.034Z,1761577349.034 [DAT](INFO): DAT read: 15:02:26.9702 LVL= 32752, 32753, 31154, 31795, AGC= 68, IDX= 120,-0.27, 0.915,-0.556, 1.099, 0.324, PHS= 0.693,-0.835, 0.730, RAW= 151.2,  -7.7, CAL= 151.4,  -9.2, ROT= 358.6,   9.2

2025-10-27T15:02:29.035Z,1761577349.035 [DAT](INFO): got valid direction response:
 15:02:26.9702 LVL= 32752, 32753, 31154, 31795, AGC= 68, IDX= 120,-0.27, 0.915,-0.556, 1.099, 0.324, PHS= 0.693,-0.835, 0.730, RAW= 151.2,  -7.7, CAL= 151.4,  -9.2, ROT= 358.6,   9.2

2025-10-27T15:02:29.037Z,1761577349.037 [DAT](INFO): DAT read: Bearing 210.9,  10.9 (Local)

2025-10-27T15:02:29.037Z,1761577349.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.9,  10.9 (Local)

2025-10-27T15:02:29.063Z,1761577349.063 [DAT](INFO): DAT read: Range 11 to 50 : 481.2 m  (Round-trip  641.7 ms) speed  0.5 m/s

2025-10-27T15:02:29.064Z,1761577349.064 [DAT](INFO): DAT read: user:869>Tx time:15:02:28.0743

2025-10-27T15:02:29.065Z,1761577349.065 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:29.066Z,1761577349.066 [DAT](INFO): direction in FSK: [0.986842,-0.024118,-0.159881]
2025-10-27T15:02:29.066Z,1761577349.066 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:29.100Z,1761577349.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:29.101Z,1761577349.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:29.277Z,1761577349.277 [DAT](INFO): DAT read: 

2025-10-27T15:02:29.278Z,1761577349.278 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:29.337Z,1761577349.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183363,-0.960647,-0.208650],[0.964551,0.216791,-0.150474],[0.189786,-0.173663,0.966345]]
2025-10-27T15:02:29.376Z,1761577349.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 481.200012 m,
      deltaT: 4.047215 s,
      deltaX: 14.400024 m,
      approachRate: 3.558008 m/s,
      rangeRepo size: 4

2025-10-27T15:02:29.378Z,1761577349.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 479.035919 m,
      bearing: 76.252682 deg,
      lat: 36.779013 deg,
      lon: -121.859496 deg,
      deltaT: 4.047215 s,
      deltaX: 14.306458 m,
      approachRate: 3.534889 m/s,
      posRepo size: 4

2025-10-27T15:02:29.383Z,1761577349.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.04 m.
2025-10-27T15:02:29.386Z,1761577349.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.035919 m,
      nav range: 454.470428 m,
      bearing: 76.379230 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004548 deg/s,
      cmd heading: 78.167151 deg,
      new cmd heading: 78.172475 deg.

2025-10-27T15:02:29.392Z,1761577349.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364367 target range: 479.035919 and range: 481.20 m.
2025-10-27T15:02:29.528Z,1761577349.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:29.783Z,1761577349.783 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:29.816Z,1761577349.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185132,-0.960193,-0.209176],[0.964230,0.218576,-0.149950],[0.189702,-0.173934,0.966313]]
2025-10-27T15:02:29.852Z,1761577349.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.04 m.
2025-10-27T15:02:29.854Z,1761577349.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.035919 m,
      nav range: 454.177521 m,
      bearing: 76.380396 deg,
      approach rate: -0.615188 m/s,
      LOS rate: 0.002451 deg/s,
      cmd heading: 78.172478 deg,
      new cmd heading: 78.175979 deg.

2025-10-27T15:02:29.856Z,1761577349.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364428 target range: 479.035919 and range: 481.20 m.
2025-10-27T15:02:30.032Z,1761577350.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:30.209Z,1761577350.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187041,-0.959603,-0.210186],[0.963883,0.220569,-0.149260],[0.189591,-0.174677,0.966200]]
2025-10-27T15:02:30.248Z,1761577350.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.04 m.
2025-10-27T15:02:30.251Z,1761577350.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.035919 m,
      nav range: 453.954987 m,
      bearing: 76.381338 deg,
      approach rate: -0.561030 m/s,
      LOS rate: 0.002374 deg/s,
      cmd heading: 78.175975 deg,
      new cmd heading: 78.178801 deg.

2025-10-27T15:02:30.252Z,1761577350.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364478 target range: 479.035919 and range: 481.20 m.
2025-10-27T15:02:30.285Z,1761577350.285 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:30.536Z,1761577350.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:30.647Z,1761577350.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188603,-0.959024,-0.211427],[0.963544,0.222310,-0.148864],[0.189767,-0.175643,0.965991]]
2025-10-27T15:02:30.684Z,1761577350.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:30.686Z,1761577350.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.04 m.
2025-10-27T15:02:30.689Z,1761577350.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.035919 m,
      nav range: 453.688477 m,
      bearing: 76.382519 deg,
      approach rate: -0.608773 m/s,
      LOS rate: 0.002701 deg/s,
      cmd heading: 78.178803 deg,
      new cmd heading: 78.182350 deg.

2025-10-27T15:02:30.690Z,1761577350.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364539 target range: 479.035919 and range: 481.20 m.
2025-10-27T15:02:30.791Z,1761577350.791 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:31.040Z,1761577351.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:31.125Z,1761577351.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190567,-0.957607,-0.216039],[0.962782,0.225285,-0.149326],[0.191666,-0.179542,0.964898]]
2025-10-27T15:02:31.180Z,1761577351.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.04 m.
2025-10-27T15:02:31.187Z,1761577351.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.035919 m,
      nav range: 453.396271 m,
      bearing: 76.382049 deg,
      approach rate: -0.591264 m/s,
      LOS rate: -0.000952 deg/s,
      cmd heading: 78.182348 deg,
      new cmd heading: 78.180937 deg.

2025-10-27T15:02:31.188Z,1761577351.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364515 target range: 479.035919 and range: 481.20 m.
2025-10-27T15:02:31.293Z,1761577351.293 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:31.525Z,1761577351.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191349,-0.957097,-0.217604],[0.962432,0.226470,-0.149785],[0.192640,-0.180768,0.964475]]
2025-10-27T15:02:31.544Z,1761577351.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:31.544Z,1761577351.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.04 m.
2025-10-27T15:02:31.547Z,1761577351.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.035919 m,
      nav range: 453.163330 m,
      bearing: 76.381696 deg,
      approach rate: -0.642482 m/s,
      LOS rate: -0.000974 deg/s,
      cmd heading: 78.180934 deg,
      new cmd heading: 78.179874 deg.

2025-10-27T15:02:31.548Z,1761577351.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364496 target range: 479.035919 and range: 481.20 m.
2025-10-27T15:02:31.798Z,1761577351.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:31.943Z,1761577351.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191688,-0.956950,-0.217949],[0.962121,0.227081,-0.150852],[0.193850,-0.180777,0.964231]]
2025-10-27T15:02:32.048Z,1761577352.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:32.084Z,1761577352.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.04 m.
2025-10-27T15:02:32.087Z,1761577352.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.035919 m,
      nav range: 452.880341 m,
      bearing: 76.379885 deg,
      approach rate: -0.523031 m/s,
      LOS rate: -0.003350 deg/s,
      cmd heading: 78.179875 deg,
      new cmd heading: 78.174437 deg.

2025-10-27T15:02:32.140Z,1761577352.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364401 target range: 479.035919 and range: 481.20 m.
2025-10-27T15:02:32.300Z,1761577352.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:32.446Z,1761577352.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191340,-0.956930,-0.218343],[0.961879,0.227096,-0.152369],[0.195392,-0.180865,0.963904]]
2025-10-27T15:02:32.478Z,1761577352.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.04 m.
2025-10-27T15:02:32.481Z,1761577352.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.035919 m,
      nav range: 452.565247 m,
      bearing: 76.377852 deg,
      approach rate: -0.799991 m/s,
      LOS rate: -0.005164 deg/s,
      cmd heading: 78.174438 deg,
      new cmd heading: 78.168337 deg.

2025-10-27T15:02:32.482Z,1761577352.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364295 target range: 479.035919 and range: 481.20 m.
2025-10-27T15:02:32.552Z,1761577352.552 [DAT](INFO): DAT read: Rx Time:15:02:31.0937

2025-10-27T15:02:32.553Z,1761577352.553 [DAT](INFO): Rx dataTimestamp_ set to:1761577352.552469
2025-10-27T15:02:32.553Z,1761577352.553 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:32.806Z,1761577352.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:32.849Z,1761577352.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190843,-0.956893,-0.218942],[0.961640,0.227021,-0.153983],[0.197050,-0.181157,0.963511]]
2025-10-27T15:02:32.900Z,1761577352.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:32.902Z,1761577352.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.04 m.
2025-10-27T15:02:32.905Z,1761577352.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.035919 m,
      nav range: 452.276764 m,
      bearing: 76.375313 deg,
      approach rate: -0.680729 m/s,
      LOS rate: -0.005995 deg/s,
      cmd heading: 78.168339 deg,
      new cmd heading: 78.160717 deg.

2025-10-27T15:02:32.906Z,1761577352.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364162 target range: 479.035919 and range: 481.20 m.
2025-10-27T15:02:33.061Z,1761577353.061 [DAT](INFO): DAT read: 15:02:31.0937 LVL= 28656, 32225, 28258, 32755, AGC= 64, IDX= 169,-0.16,-1.688,-3.135,-1.451,-1.949, PHS= 0.363,-1.141, 0.454, RAW= 152.9,   4.2, CAL= 152.0,   4.0, ROT= 358.0,  -4.0

2025-10-27T15:02:33.063Z,1761577353.063 [DAT](INFO): got valid direction response:
 15:02:31.0937 LVL= 28656, 32225, 28258, 32755, AGC= 64, IDX= 169,-0.16,-1.688,-3.135,-1.451,-1.949, PHS= 0.363,-1.141, 0.454, RAW= 152.9,   4.2, CAL= 152.0,   4.0, ROT= 358.0,  -4.0

2025-10-27T15:02:33.064Z,1761577353.064 [DAT](INFO): DAT read: Bearing 223.2,   9.0 (Local)

2025-10-27T15:02:33.064Z,1761577353.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.2,   9.0 (Local)

2025-10-27T15:02:33.066Z,1761577353.066 [DAT](INFO): DAT read: Range 11 to 50 : 461.4 m  (Round-trip  615.3 ms) speed  0.5 m/s

2025-10-27T15:02:33.067Z,1761577353.067 [DAT](INFO): DAT read: user:870>Tx time:15:02:32.1743

2025-10-27T15:02:33.067Z,1761577353.067 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:33.068Z,1761577353.068 [DAT](INFO): direction in FSK: [0.996956,-0.034815,0.069756]
2025-10-27T15:02:33.068Z,1761577353.068 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:33.072Z,1761577353.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:33.072Z,1761577353.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:33.256Z,1761577353.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190199,-0.956893,-0.219500],[0.961374,0.226848,-0.155885],[0.198958,-0.181373,0.963078]]
2025-10-27T15:02:33.300Z,1761577353.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 461.399994 m,
      deltaT: 4.031495 s,
      deltaX: -19.800018 m,
      approachRate: -4.911334 m/s,
      rangeRepo size: 4

2025-10-27T15:02:33.302Z,1761577353.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 459.317017 m,
      bearing: 77.540624 deg,
      lat: 36.779013 deg,
      lon: -121.859516 deg,
      deltaT: 4.031495 s,
      deltaX: -19.718903 m,
      approachRate: -4.891213 m/s,
      posRepo size: 4

2025-10-27T15:02:33.303Z,1761577353.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.32 m.
2025-10-27T15:02:33.308Z,1761577353.308 [DAT](INFO): DAT read: 

2025-10-27T15:02:33.308Z,1761577353.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:33.329Z,1761577353.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.317017 m,
      nav range: 450.268158 m,
      bearing: 76.319122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005995 deg/s,
      cmd heading: 78.160717 deg,
      new cmd heading: 78.153570 deg.

2025-10-27T15:02:33.330Z,1761577353.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364037 target range: 459.317017 and range: 461.40 m.
2025-10-27T15:02:33.560Z,1761577353.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:33.750Z,1761577353.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189134,-0.957223,-0.218981],[0.961144,0.226129,-0.158329],[0.201074,-0.180527,0.962798]]
2025-10-27T15:02:33.816Z,1761577353.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:33.821Z,1761577353.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.32 m.
2025-10-27T15:02:33.845Z,1761577353.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.317017 m,
      nav range: 449.933502 m,
      bearing: 76.316049 deg,
      approach rate: -0.653506 m/s,
      LOS rate: -0.006006 deg/s,
      cmd heading: 78.153572 deg,
      new cmd heading: 78.144346 deg.

2025-10-27T15:02:33.852Z,1761577353.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363876 target range: 459.317017 and range: 461.40 m.
2025-10-27T15:02:34.064Z,1761577354.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:34.304Z,1761577354.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186636,-0.957674,-0.219153],[0.960753,0.224519,-0.162923],[0.205231,-0.180145,0.961992]]
2025-10-27T15:02:34.316Z,1761577354.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:34.360Z,1761577354.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.32 m.
2025-10-27T15:02:34.363Z,1761577354.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.317017 m,
      nav range: 449.504059 m,
      bearing: 76.311817 deg,
      approach rate: -0.781966 m/s,
      LOS rate: -0.007714 deg/s,
      cmd heading: 78.144345 deg,
      new cmd heading: 78.131635 deg.

2025-10-27T15:02:34.364Z,1761577354.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363654 target range: 459.317017 and range: 461.40 m.
2025-10-27T15:02:34.568Z,1761577354.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:34.694Z,1761577354.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185261,-0.958034,-0.218743],[0.960550,0.223528,-0.165465],[0.207416,-0.179459,0.961651]]
2025-10-27T15:02:34.735Z,1761577354.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.32 m.
2025-10-27T15:02:34.740Z,1761577354.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.317017 m,
      nav range: 449.235077 m,
      bearing: 76.309116 deg,
      approach rate: -0.718533 m/s,
      LOS rate: -0.007218 deg/s,
      cmd heading: 78.131634 deg,
      new cmd heading: 78.123528 deg.

2025-10-27T15:02:34.741Z,1761577354.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363513 target range: 459.317017 and range: 461.40 m.
2025-10-27T15:02:34.824Z,1761577354.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:35.075Z,1761577355.075 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:35.187Z,1761577355.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183800,-0.958233,-0.219103],[0.960358,0.222584,-0.167837],[0.209596,-0.179569,0.961158]]
2025-10-27T15:02:35.222Z,1761577355.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:35.240Z,1761577355.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.32 m.
2025-10-27T15:02:35.247Z,1761577355.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.317017 m,
      nav range: 448.851410 m,
      bearing: 76.305098 deg,
      approach rate: -0.759150 m/s,
      LOS rate: -0.007958 deg/s,
      cmd heading: 78.123526 deg,
      new cmd heading: 78.111461 deg.

2025-10-27T15:02:35.248Z,1761577355.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363302 target range: 459.317017 and range: 461.40 m.
2025-10-27T15:02:35.328Z,1761577355.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:35.580Z,1761577355.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:35.583Z,1761577355.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182566,-0.958362,-0.219570],[0.960160,0.221842,-0.169935],[0.211569,-0.179798,0.960683]]
2025-10-27T15:02:35.601Z,1761577355.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.32 m.
2025-10-27T15:02:35.620Z,1761577355.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.317017 m,
      nav range: 448.559875 m,
      bearing: 76.301993 deg,
      approach rate: -0.807317 m/s,
      LOS rate: -0.008603 deg/s,
      cmd heading: 78.111464 deg,
      new cmd heading: 78.102144 deg.

2025-10-27T15:02:35.621Z,1761577355.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363140 target range: 459.317017 and range: 461.40 m.
2025-10-27T15:02:35.836Z,1761577355.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:35.985Z,1761577355.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180946,-0.958668,-0.219578],[0.960069,0.220615,-0.172038],[0.213369,-0.179680,0.960306]]
2025-10-27T15:02:36.027Z,1761577356.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.32 m.
2025-10-27T15:02:36.030Z,1761577356.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.317017 m,
      nav range: 448.227509 m,
      bearing: 76.298483 deg,
      approach rate: -0.780611 m/s,
      LOS rate: -0.008252 deg/s,
      cmd heading: 78.102148 deg,
      new cmd heading: 78.091607 deg.

2025-10-27T15:02:36.031Z,1761577356.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362956 target range: 459.317017 and range: 461.40 m.
2025-10-27T15:02:36.084Z,1761577356.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:36.336Z,1761577356.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:36.390Z,1761577356.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179190,-0.958967,-0.219713],[0.959999,0.219277,-0.174123],[0.215156,-0.179723,0.959900]]
2025-10-27T15:02:36.409Z,1761577356.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.32 m.
2025-10-27T15:02:36.412Z,1761577356.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.317017 m,
      nav range: 447.929596 m,
      bearing: 76.295263 deg,
      approach rate: -0.780309 m/s,
      LOS rate: -0.008439 deg/s,
      cmd heading: 78.091609 deg,
      new cmd heading: 78.081943 deg.

2025-10-27T15:02:36.413Z,1761577356.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362787 target range: 459.317017 and range: 461.40 m.
2025-10-27T15:02:36.588Z,1761577356.588 [DAT](INFO): DAT read: Rx Time:15:02:35.1896

2025-10-27T15:02:36.588Z,1761577356.588 [DAT](INFO): Rx dataTimestamp_ set to:1761577356.588124
2025-10-27T15:02:36.589Z,1761577356.589 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:36.798Z,1761577356.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176716,-0.959814,-0.218009],[0.960126,0.216851,-0.176446],[0.216631,-0.178135,0.959864]]
2025-10-27T15:02:36.842Z,1761577356.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:36.884Z,1761577356.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.32 m.
2025-10-27T15:02:36.886Z,1761577356.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.317017 m,
      nav range: 447.598267 m,
      bearing: 76.291571 deg,
      approach rate: -0.697521 m/s,
      LOS rate: -0.007777 deg/s,
      cmd heading: 78.081944 deg,
      new cmd heading: 78.070861 deg.

2025-10-27T15:02:36.892Z,1761577356.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362594 target range: 459.317017 and range: 461.40 m.
2025-10-27T15:02:37.109Z,1761577357.109 [DAT](INFO): DAT read: 15:02:35.1896 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 399,-0.07,-1.707,-3.135,-1.471,-1.949, PHS= 0.344,-1.141, 0.434, RAW= 152.9,   4.8, CAL= 152.1,   4.7, ROT= 357.9,  -4.7

2025-10-27T15:02:37.120Z,1761577357.120 [DAT](INFO): got valid direction response:
 15:02:35.1896 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 399,-0.07,-1.707,-3.135,-1.471,-1.949, PHS= 0.344,-1.141, 0.434, RAW= 152.9,   4.8, CAL= 152.1,   4.7, ROT= 357.9,  -4.7

2025-10-27T15:02:37.122Z,1761577357.122 [DAT](INFO): DAT read: Bearing 223.2,   9.6 (Local)

2025-10-27T15:02:37.122Z,1761577357.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.2,   9.6 (Local)

2025-10-27T15:02:37.125Z,1761577357.125 [DAT](INFO): DAT read: Range 11 to 50 : 458.4 m  (Round-trip  611.2 ms) speed  0.6 m/s

2025-10-27T15:02:37.126Z,1761577357.126 [DAT](INFO): DAT read: user:871>Tx time:15:02:36.2743

2025-10-27T15:02:37.127Z,1761577357.127 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:37.132Z,1761577357.132 [DAT](INFO): direction in FSK: [0.995968,-0.036520,0.081939]
2025-10-27T15:02:37.133Z,1761577357.133 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:37.138Z,1761577357.138 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:37.138Z,1761577357.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:37.243Z,1761577357.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173927,-0.960860,-0.215631],[0.960261,0.214021,-0.179146],[0.218284,-0.175904,0.959901]]
2025-10-27T15:02:37.344Z,1761577357.344 [DAT](INFO): DAT read: 

2025-10-27T15:02:37.344Z,1761577357.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:37.346Z,1761577357.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 458.399994 m,
      deltaT: 4.037845 s,
      deltaX: -3.000000 m,
      approachRate: -0.742971 m/s,
      rangeRepo size: 4

2025-10-27T15:02:37.352Z,1761577357.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 456.333374 m,
      bearing: 78.462011 deg,
      lat: 36.778913 deg,
      lon: -121.859582 deg,
      deltaT: 4.037845 s,
      deltaX: -2.983643 m,
      approachRate: -0.738920 m/s,
      posRepo size: 4

2025-10-27T15:02:37.353Z,1761577357.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:37.360Z,1761577357.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 438.964966 m,
      bearing: 77.515088 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007777 deg/s,
      cmd heading: 78.070859 deg,
      new cmd heading: 78.060230 deg.

2025-10-27T15:02:37.361Z,1761577357.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362408 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:37.596Z,1761577357.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:37.666Z,1761577357.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171792,-0.961625,-0.213928],[0.960375,0.211857,-0.181099],[0.219471,-0.174340,0.959916]]
2025-10-27T15:02:37.694Z,1761577357.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:37.697Z,1761577357.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:37.700Z,1761577357.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 438.671204 m,
      bearing: 77.512382 deg,
      approach rate: -0.821460 m/s,
      LOS rate: -0.007573 deg/s,
      cmd heading: 78.060231 deg,
      new cmd heading: 78.052106 deg.

2025-10-27T15:02:37.701Z,1761577357.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362266 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:37.850Z,1761577357.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:38.067Z,1761577358.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169746,-0.962295,-0.212544],[0.960501,0.209808,-0.182810],[0.220510,-0.173118,0.959899]]
2025-10-27T15:02:38.100Z,1761577358.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:38.105Z,1761577358.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:38.107Z,1761577358.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 438.370819 m,
      bearing: 77.510868 deg,
      approach rate: -0.736827 m/s,
      LOS rate: -0.003714 deg/s,
      cmd heading: 78.052110 deg,
      new cmd heading: 78.047567 deg.

2025-10-27T15:02:38.108Z,1761577358.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362187 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:38.352Z,1761577358.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:38.472Z,1761577358.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168473,-0.963187,-0.209495],[0.960478,0.208187,-0.184772],[0.221584,-0.170086,0.960193]]
2025-10-27T15:02:38.490Z,1761577358.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:38.493Z,1761577358.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 438.085052 m,
      bearing: 77.509377 deg,
      approach rate: -0.741357 m/s,
      LOS rate: -0.003872 deg/s,
      cmd heading: 78.047568 deg,
      new cmd heading: 78.043090 deg.

2025-10-27T15:02:38.494Z,1761577358.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362109 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:38.605Z,1761577358.605 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:38.768Z,1761577358.768 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:02:38.858Z,1761577358.858 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:38.915Z,1761577358.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167452,-0.963929,-0.206883],[0.960434,0.206867,-0.186474],[0.222545,-0.167472,0.960431]]
2025-10-27T15:02:38.959Z,1761577358.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:38.962Z,1761577358.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 437.761902 m,
      bearing: 77.508732 deg,
      approach rate: -0.689262 m/s,
      LOS rate: -0.001376 deg/s,
      cmd heading: 78.043087 deg,
      new cmd heading: 78.041151 deg.

2025-10-27T15:02:38.963Z,1761577358.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362075 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:39.108Z,1761577359.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:39.286Z,1761577359.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167386,-0.963958,-0.206802],[0.960260,0.206926,-0.187301],[0.223343,-0.167233,0.960287]]
2025-10-27T15:02:39.322Z,1761577359.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:39.325Z,1761577359.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 437.523651 m,
      bearing: 77.508255 deg,
      approach rate: -0.655760 m/s,
      LOS rate: -0.001315 deg/s,
      cmd heading: 78.041154 deg,
      new cmd heading: 78.039721 deg.

2025-10-27T15:02:39.326Z,1761577359.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362050 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:39.360Z,1761577359.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:39.612Z,1761577359.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:39.685Z,1761577359.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167642,-0.963813,-0.207272],[0.960053,0.207387,-0.187854],[0.224041,-0.167499,0.960078]]
2025-10-27T15:02:39.701Z,1761577359.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:39.703Z,1761577359.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:39.706Z,1761577359.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 437.249115 m,
      bearing: 77.507715 deg,
      approach rate: -0.720552 m/s,
      LOS rate: -0.001417 deg/s,
      cmd heading: 78.039720 deg,
      new cmd heading: 78.038100 deg.

2025-10-27T15:02:39.708Z,1761577359.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362022 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:39.772Z,1761577359.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:02:39.864Z,1761577359.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:40.087Z,1761577360.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168166,-0.963596,-0.207855],[0.959829,0.208105,-0.188202],[0.224606,-0.167856,0.959884]]
2025-10-27T15:02:40.116Z,1761577360.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:40.125Z,1761577360.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:40.128Z,1761577360.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 436.979065 m,
      bearing: 77.507425 deg,
      approach rate: -0.640154 m/s,
      LOS rate: -0.000688 deg/s,
      cmd heading: 78.038101 deg,
      new cmd heading: 78.037231 deg.

2025-10-27T15:02:40.129Z,1761577360.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362007 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:40.368Z,1761577360.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:40.490Z,1761577360.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169417,-0.962972,-0.209720],[0.959493,0.209765,-0.188073],[0.225101,-0.169363,0.959503]]
2025-10-27T15:02:40.545Z,1761577360.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:40.548Z,1761577360.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 436.717224 m,
      bearing: 77.507192 deg,
      approach rate: -0.622817 m/s,
      LOS rate: -0.000556 deg/s,
      cmd heading: 78.037234 deg,
      new cmd heading: 78.036532 deg.

2025-10-27T15:02:40.549Z,1761577360.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361994 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:40.624Z,1761577360.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:40.887Z,1761577360.887 [DAT](INFO): DAT read: Rx Time:15:02:39.2860

2025-10-27T15:02:40.889Z,1761577360.889 [DAT](INFO): Rx dataTimestamp_ set to:1761577360.887710
2025-10-27T15:02:40.890Z,1761577360.890 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:40.953Z,1761577360.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170667,-0.962497,-0.210887],[0.959160,0.211282,-0.188072],[0.225575,-0.170177,0.959247]]
2025-10-27T15:02:40.990Z,1761577360.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:40.993Z,1761577360.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 436.436005 m,
      bearing: 77.507618 deg,
      approach rate: -0.632458 m/s,
      LOS rate: 0.000961 deg/s,
      cmd heading: 78.036530 deg,
      new cmd heading: 78.037812 deg.

2025-10-27T15:02:40.994Z,1761577360.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362017 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:41.128Z,1761577361.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:41.323Z,1761577361.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172064,-0.962076,-0.211670],[0.958812,0.212858,-0.188070],[0.225993,-0.170592,0.959075]]
2025-10-27T15:02:41.355Z,1761577361.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.33 m.
2025-10-27T15:02:41.357Z,1761577361.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.333374 m,
      nav range: 436.215454 m,
      bearing: 77.507997 deg,
      approach rate: -0.605025 m/s,
      LOS rate: 0.001038 deg/s,
      cmd heading: 78.037814 deg,
      new cmd heading: 78.038950 deg.

2025-10-27T15:02:41.358Z,1761577361.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362037 target range: 456.333374 and range: 458.40 m.
2025-10-27T15:02:41.398Z,1761577361.398 [DAT](INFO): DAT read: 15:02:39.2860 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 410,-0.27, 1.950, 0.520, 2.189, 1.792, PHS= 0.260,-1.228, 0.352, RAW= 153.0,   8.1, CAL= 152.5,   8.6, ROT= 357.5,  -8.6

2025-10-27T15:02:41.400Z,1761577361.400 [DAT](INFO): got valid direction response:
 15:02:39.2860 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 410,-0.27, 1.950, 0.520, 2.189, 1.792, PHS= 0.260,-1.228, 0.352, RAW= 153.0,   8.1, CAL= 152.5,   8.6, ROT= 357.5,  -8.6

2025-10-27T15:02:41.401Z,1761577361.401 [DAT](INFO): DAT read: Bearing 227.1,   9.0 (Local)

2025-10-27T15:02:41.401Z,1761577361.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.1,   9.0 (Local)

2025-10-27T15:02:41.412Z,1761577361.412 [DAT](INFO): DAT read: Range 11 to 50 : 455.7 m  (Round-trip  607.6 ms) speed  0.1 m/s

2025-10-27T15:02:41.413Z,1761577361.413 [DAT](INFO): DAT read: user:872>Tx time:15:02:40.3743

2025-10-27T15:02:41.414Z,1761577361.414 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:41.417Z,1761577361.417 [DAT](INFO): direction in FSK: [0.987815,-0.043129,0.149535]
2025-10-27T15:02:41.417Z,1761577361.417 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:41.437Z,1761577361.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:41.437Z,1761577361.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:41.640Z,1761577361.640 [DAT](INFO): DAT read: 

2025-10-27T15:02:41.640Z,1761577361.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:41.741Z,1761577361.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174091,-0.961307,-0.213500],[0.958336,0.215255,-0.187769],[0.226461,-0.171916,0.958729]]
2025-10-27T15:02:41.804Z,1761577361.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 455.700012 m,
      deltaT: 4.294742 s,
      deltaX: -2.699982 m,
      approachRate: -0.628671 m/s,
      rangeRepo size: 4

2025-10-27T15:02:41.806Z,1761577361.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 453.591034 m,
      bearing: 78.711622 deg,
      lat: 36.778906 deg,
      lon: -121.859609 deg,
      deltaT: 4.294742 s,
      deltaX: -2.742340 m,
      approachRate: -0.638534 m/s,
      posRepo size: 4

2025-10-27T15:02:41.811Z,1761577361.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.59 m.
2025-10-27T15:02:41.814Z,1761577361.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.591034 m,
      nav range: 433.420624 m,
      bearing: 77.543105 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001038 deg/s,
      cmd heading: 78.038948 deg,
      new cmd heading: 78.040347 deg.

2025-10-27T15:02:41.823Z,1761577361.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362061 target range: 453.591034 and range: 455.70 m.
2025-10-27T15:02:41.895Z,1761577361.895 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:42.126Z,1761577362.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176187,-0.960830,-0.213927],[0.957788,0.217486,-0.187996],[0.227158,-0.171774,0.958589]]
2025-10-27T15:02:42.148Z,1761577362.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:42.170Z,1761577362.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:42.172Z,1761577362.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.59 m.
2025-10-27T15:02:42.175Z,1761577362.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.591034 m,
      nav range: 433.181702 m,
      bearing: 77.543122 deg,
      approach rate: -0.648704 m/s,
      LOS rate: 0.000045 deg/s,
      cmd heading: 78.040348 deg,
      new cmd heading: 78.040397 deg.

2025-10-27T15:02:42.176Z,1761577362.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362062 target range: 453.591034 and range: 455.70 m.
2025-10-27T15:02:42.400Z,1761577362.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:42.530Z,1761577362.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178816,-0.960052,-0.215231],[0.957238,0.220324,-0.187488],[0.227419,-0.172502,0.958396]]
2025-10-27T15:02:42.560Z,1761577362.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.59 m.
2025-10-27T15:02:42.562Z,1761577362.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.591034 m,
      nav range: 432.950867 m,
      bearing: 77.543222 deg,
      approach rate: -0.595348 m/s,
      LOS rate: 0.000259 deg/s,
      cmd heading: 78.040396 deg,
      new cmd heading: 78.040697 deg.

2025-10-27T15:02:42.564Z,1761577362.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362067 target range: 453.591034 and range: 455.70 m.
2025-10-27T15:02:42.652Z,1761577362.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:42.904Z,1761577362.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:42.974Z,1761577362.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182019,-0.959056,-0.216980],[0.956539,0.223828,-0.186907],[0.227821,-0.173529,0.958116]]
2025-10-27T15:02:43.011Z,1761577363.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.59 m.
2025-10-27T15:02:43.014Z,1761577363.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.591034 m,
      nav range: 432.681061 m,
      bearing: 77.542142 deg,
      approach rate: -0.598397 m/s,
      LOS rate: -0.002395 deg/s,
      cmd heading: 78.040696 deg,
      new cmd heading: 78.037456 deg.

2025-10-27T15:02:43.015Z,1761577363.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362011 target range: 453.591034 and range: 455.70 m.
2025-10-27T15:02:43.156Z,1761577363.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:43.337Z,1761577363.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185233,-0.958281,-0.217686],[0.955797,0.227161,-0.186684],[0.228345,-0.173483,0.957999]]
2025-10-27T15:02:43.374Z,1761577363.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.59 m.
2025-10-27T15:02:43.377Z,1761577363.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.591034 m,
      nav range: 432.474945 m,
      bearing: 77.541409 deg,
      approach rate: -0.567376 m/s,
      LOS rate: -0.002018 deg/s,
      cmd heading: 78.037459 deg,
      new cmd heading: 78.035259 deg.

2025-10-27T15:02:43.378Z,1761577363.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361972 target range: 453.591034 and range: 455.70 m.
2025-10-27T15:02:43.408Z,1761577363.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:43.660Z,1761577363.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:43.753Z,1761577363.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188380,-0.957214,-0.219670],[0.955018,0.230706,-0.186318],[0.229025,-0.174690,0.957617]]
2025-10-27T15:02:43.791Z,1761577363.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.59 m.
2025-10-27T15:02:43.794Z,1761577363.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.591034 m,
      nav range: 432.214752 m,
      bearing: 77.540597 deg,
      approach rate: -0.624202 m/s,
      LOS rate: -0.001950 deg/s,
      cmd heading: 78.035260 deg,
      new cmd heading: 78.032821 deg.

2025-10-27T15:02:43.794Z,1761577363.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361930 target range: 453.591034 and range: 455.70 m.
2025-10-27T15:02:43.912Z,1761577363.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:44.148Z,1761577364.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191531,-0.955886,-0.222708],[0.954261,0.234434,-0.185542],[0.229567,-0.176984,0.957066]]
2025-10-27T15:02:44.164Z,1761577364.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:44.184Z,1761577364.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:44.186Z,1761577364.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.59 m.
2025-10-27T15:02:44.188Z,1761577364.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.591034 m,
      nav range: 431.971649 m,
      bearing: 77.539027 deg,
      approach rate: -0.615688 m/s,
      LOS rate: -0.003977 deg/s,
      cmd heading: 78.032821 deg,
      new cmd heading: 78.028110 deg.

2025-10-27T15:02:44.189Z,1761577364.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361847 target range: 453.591034 and range: 455.70 m.
2025-10-27T15:02:44.419Z,1761577364.419 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:44.549Z,1761577364.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194498,-0.954945,-0.224165],[0.953455,0.237735,-0.185486],[0.230420,-0.177655,0.956737]]
2025-10-27T15:02:44.585Z,1761577364.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.59 m.
2025-10-27T15:02:44.588Z,1761577364.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.591034 m,
      nav range: 431.736603 m,
      bearing: 77.537606 deg,
      approach rate: -0.591312 m/s,
      LOS rate: -0.003579 deg/s,
      cmd heading: 78.028108 deg,
      new cmd heading: 78.023841 deg.

2025-10-27T15:02:44.589Z,1761577364.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361773 target range: 453.591034 and range: 455.70 m.
2025-10-27T15:02:44.668Z,1761577364.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:44.922Z,1761577364.922 [DAT](INFO): DAT read: Rx Time:15:02:43.4064

2025-10-27T15:02:44.924Z,1761577364.924 [DAT](INFO): Rx dataTimestamp_ set to:1761577364.922859
2025-10-27T15:02:44.924Z,1761577364.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:45.005Z,1761577365.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197383,-0.954355,-0.224156],[0.952631,0.240692,-0.185910],[0.231376,-0.176842,0.956657]]
2025-10-27T15:02:45.057Z,1761577365.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.59 m.
2025-10-27T15:02:45.060Z,1761577365.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.591034 m,
      nav range: 431.429169 m,
      bearing: 77.535163 deg,
      approach rate: -0.648406 m/s,
      LOS rate: -0.005155 deg/s,
      cmd heading: 78.023840 deg,
      new cmd heading: 78.016507 deg.

2025-10-27T15:02:45.061Z,1761577365.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361645 target range: 453.591034 and range: 455.70 m.
2025-10-27T15:02:45.172Z,1761577365.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:45.377Z,1761577365.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200004,-0.953405,-0.225869],[0.951835,0.243741,-0.186010],[0.232397,-0.177787,0.956234]]
2025-10-27T15:02:45.395Z,1761577365.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.59 m.
2025-10-27T15:02:45.398Z,1761577365.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.591034 m,
      nav range: 431.217499 m,
      bearing: 77.533556 deg,
      approach rate: -0.626430 m/s,
      LOS rate: -0.004758 deg/s,
      cmd heading: 78.016504 deg,
      new cmd heading: 78.011681 deg.

2025-10-27T15:02:45.399Z,1761577365.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361561 target range: 453.591034 and range: 455.70 m.
2025-10-27T15:02:45.430Z,1761577365.430 [DAT](INFO): DAT read: 15:02:43.4064 LVL= 32240, 32753, 32754, 29123, AGC= 64, IDX=  12, 0.22, 0.842,-0.579, 1.040, 0.677, PHS= 0.266,-1.211, 0.319, RAW= 151.7,   8.4, CAL= 151.3,   9.0, ROT= 358.7,  -9.0

2025-10-27T15:02:45.431Z,1761577365.431 [DAT](INFO): got valid direction response:
 15:02:43.4064 LVL= 32240, 32753, 32754, 29123, AGC= 64, IDX=  12, 0.22, 0.842,-0.579, 1.040, 0.677, PHS= 0.266,-1.211, 0.319, RAW= 151.7,   8.4, CAL= 151.3,   9.0, ROT= 358.7,  -9.0

2025-10-27T15:02:45.432Z,1761577365.432 [DAT](INFO): DAT read: Bearing 226.9,  10.8 (Local)

2025-10-27T15:02:45.432Z,1761577365.432 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.9,  10.8 (Local)

2025-10-27T15:02:45.434Z,1761577365.434 [DAT](INFO): DAT read: Range 11 to 50 : 471.0 m  (Round-trip  628.0 ms) speed  0.4 m/s

2025-10-27T15:02:45.435Z,1761577365.435 [DAT](INFO): DAT read: user:873>Tx time:15:02:44.4743

2025-10-27T15:02:45.435Z,1761577365.435 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:45.436Z,1761577365.436 [DAT](INFO): direction in FSK: [0.987434,-0.022408,0.156434]
2025-10-27T15:02:45.436Z,1761577365.436 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:45.448Z,1761577365.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:45.448Z,1761577365.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:45.676Z,1761577365.676 [DAT](INFO): DAT read: 

2025-10-27T15:02:45.676Z,1761577365.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:45.779Z,1761577365.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202369,-0.952613,-0.227101],[0.951064,0.246469,-0.186361],[0.233504,-0.178274,0.955874]]
2025-10-27T15:02:45.810Z,1761577365.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 471.000000 m,
      deltaT: 4.035518 s,
      deltaX: 15.299988 m,
      approachRate: 3.791332 m/s,
      rangeRepo size: 4

2025-10-27T15:02:45.813Z,1761577365.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 468.787231 m,
      bearing: 78.400492 deg,
      lat: 36.778852 deg,
      lon: -121.859582 deg,
      deltaT: 4.035518 s,
      deltaX: 15.196198 m,
      approachRate: 3.765613 m/s,
      posRepo size: 4

2025-10-27T15:02:45.813Z,1761577365.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.79 m.
2025-10-27T15:02:45.816Z,1761577365.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.787231 m,
      nav range: 432.075958 m,
      bearing: 78.378595 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004758 deg/s,
      cmd heading: 78.011682 deg,
      new cmd heading: 78.005765 deg.

2025-10-27T15:02:45.817Z,1761577365.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361457 target range: 468.787231 and range: 471.00 m.
2025-10-27T15:02:45.928Z,1761577365.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:46.178Z,1761577366.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204315,-0.952064,-0.227662],[0.950418,0.248628,-0.186790],[0.234439,-0.178210,0.955657]]
2025-10-27T15:02:46.180Z,1761577366.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:46.224Z,1761577366.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:46.226Z,1761577366.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.79 m.
2025-10-27T15:02:46.232Z,1761577366.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.787231 m,
      nav range: 431.794830 m,
      bearing: 78.376280 deg,
      approach rate: -0.675379 m/s,
      LOS rate: -0.005567 deg/s,
      cmd heading: 78.005767 deg,
      new cmd heading: 77.998815 deg.

2025-10-27T15:02:46.233Z,1761577366.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361336 target range: 468.787231 and range: 471.00 m.
2025-10-27T15:02:46.435Z,1761577366.435 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:46.584Z,1761577366.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206231,-0.951725,-0.227351],[0.949845,0.250532,-0.187160],[0.235083,-0.177350,0.955658]]
2025-10-27T15:02:46.603Z,1761577366.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.79 m.
2025-10-27T15:02:46.606Z,1761577366.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.787231 m,
      nav range: 431.541534 m,
      bearing: 78.374261 deg,
      approach rate: -0.670892 m/s,
      LOS rate: -0.005351 deg/s,
      cmd heading: 77.998814 deg,
      new cmd heading: 77.992753 deg.

2025-10-27T15:02:46.607Z,1761577366.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361230 target range: 468.787231 and range: 471.00 m.
2025-10-27T15:02:46.685Z,1761577366.685 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:46.936Z,1761577366.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:47.026Z,1761577367.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207638,-0.951323,-0.227751],[0.949350,0.252108,-0.187555],[0.235843,-0.177272,0.955486]]
2025-10-27T15:02:47.073Z,1761577367.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.79 m.
2025-10-27T15:02:47.075Z,1761577367.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.787231 m,
      nav range: 431.211761 m,
      bearing: 78.371796 deg,
      approach rate: -0.703037 m/s,
      LOS rate: -0.005258 deg/s,
      cmd heading: 77.992755 deg,
      new cmd heading: 77.985357 deg.

2025-10-27T15:02:47.076Z,1761577367.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361101 target range: 468.787231 and range: 471.00 m.
2025-10-27T15:02:47.188Z,1761577367.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:47.393Z,1761577367.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208622,-0.951226,-0.227257],[0.948962,0.253087,-0.188196],[0.236532,-0.176396,0.955477]]
2025-10-27T15:02:47.411Z,1761577367.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.79 m.
2025-10-27T15:02:47.414Z,1761577367.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.787231 m,
      nav range: 430.974182 m,
      bearing: 78.370053 deg,
      approach rate: -0.702044 m/s,
      LOS rate: -0.005153 deg/s,
      cmd heading: 77.985358 deg,
      new cmd heading: 77.980126 deg.

2025-10-27T15:02:47.415Z,1761577367.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361010 target range: 468.787231 and range: 471.00 m.
2025-10-27T15:02:47.440Z,1761577367.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:47.692Z,1761577367.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:47.825Z,1761577367.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.79 m.
2025-10-27T15:02:47.828Z,1761577367.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.787231 m,
      nav range: 430.683441 m,
      bearing: 78.367918 deg,
      approach rate: -0.702013 m/s,
      LOS rate: -0.005160 deg/s,
      cmd heading: 77.980126 deg,
      new cmd heading: 77.973716 deg.

2025-10-27T15:02:47.829Z,1761577367.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360898 target range: 468.787231 and range: 471.00 m.
2025-10-27T15:02:47.944Z,1761577367.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:48.196Z,1761577368.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:48.199Z,1761577368.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209366,-0.951288,-0.226313],[0.948454,0.253871,-0.189694],[0.237907,-0.174932,0.955405]]
2025-10-27T15:02:48.277Z,1761577368.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:48.283Z,1761577368.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.79 m.
2025-10-27T15:02:48.286Z,1761577368.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.787231 m,
      nav range: 430.370819 m,
      bearing: 78.365471 deg,
      approach rate: -0.688936 m/s,
      LOS rate: -0.005396 deg/s,
      cmd heading: 77.973713 deg,
      new cmd heading: 77.966367 deg.

2025-10-27T15:02:48.291Z,1761577368.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360770 target range: 468.787231 and range: 471.00 m.
2025-10-27T15:02:48.448Z,1761577368.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:48.631Z,1761577368.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209400,-0.951643,-0.224782],[0.948327,0.253685,-0.190576],[0.238384,-0.173260,0.955591]]
2025-10-27T15:02:48.650Z,1761577368.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.79 m.
2025-10-27T15:02:48.653Z,1761577368.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.787231 m,
      nav range: 430.092163 m,
      bearing: 78.363291 deg,
      approach rate: -0.751352 m/s,
      LOS rate: -0.005883 deg/s,
      cmd heading: 77.966370 deg,
      new cmd heading: 77.959825 deg.

2025-10-27T15:02:48.654Z,1761577368.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360656 target range: 468.787231 and range: 471.00 m.
2025-10-27T15:02:48.700Z,1761577368.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:48.952Z,1761577368.952 [DAT](INFO): DAT read: Rx Time:15:02:47.4903

2025-10-27T15:02:48.952Z,1761577368.952 [DAT](INFO): Rx dataTimestamp_ set to:1761577368.952139
2025-10-27T15:02:48.953Z,1761577368.953 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:49.066Z,1761577369.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209347,-0.951943,-0.223559],[0.948179,0.253504,-0.191552],[0.239020,-0.171873,0.955683]]
2025-10-27T15:02:49.114Z,1761577369.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.79 m.
2025-10-27T15:02:49.117Z,1761577369.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.787231 m,
      nav range: 429.753296 m,
      bearing: 78.360962 deg,
      approach rate: -0.730443 m/s,
      LOS rate: -0.005023 deg/s,
      cmd heading: 77.959827 deg,
      new cmd heading: 77.952836 deg.

2025-10-27T15:02:49.118Z,1761577369.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360534 target range: 468.787231 and range: 471.00 m.
2025-10-27T15:02:49.204Z,1761577369.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:49.434Z,1761577369.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209586,-0.951839,-0.223777],[0.947899,0.253941,-0.192358],[0.239920,-0.171803,0.955470]]
2025-10-27T15:02:49.462Z,1761577369.462 [DAT](INFO): DAT read: 15:02:47.4903 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 157, 0.27, 2.880, 1.236, 3.073, 2.415, PHS= 0.566,-1.134, 0.614, RAW= 151.4,  -0.5, CAL= 150.3,  -1.3, ROT= 359.7,   1.3

2025-10-27T15:02:49.463Z,1761577369.463 [DAT](INFO): got valid direction response:
 15:02:47.4903 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 157, 0.27, 2.880, 1.236, 3.073, 2.415, PHS= 0.566,-1.134, 0.614, RAW= 151.4,  -0.5, CAL= 150.3,  -1.3, ROT= 359.7,   1.3

2025-10-27T15:02:49.464Z,1761577369.464 [DAT](INFO): DAT read: Bearing 216.1,  13.7 (Local)

2025-10-27T15:02:49.464Z,1761577369.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.1,  13.7 (Local)

2025-10-27T15:02:49.465Z,1761577369.465 [DAT](INFO): DAT read: Range 11 to 50 : 458.9 m  (Round-trip  611.9 ms) speed  0.5 m/s

2025-10-27T15:02:49.466Z,1761577369.466 [DAT](INFO): DAT read: user:874>Tx time:15:02:48.5743

2025-10-27T15:02:49.468Z,1761577369.468 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:49.469Z,1761577369.469 [DAT](INFO): direction in FSK: [0.999729,-0.005235,-0.022687]
2025-10-27T15:02:49.469Z,1761577369.469 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:49.472Z,1761577369.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:49.473Z,1761577369.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:49.526Z,1761577369.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 458.899994 m,
      deltaT: 4.031914 s,
      deltaX: -12.100006 m,
      approachRate: -3.001058 m/s,
      rangeRepo size: 4

2025-10-27T15:02:49.533Z,1761577369.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 456.729248 m,
      bearing: 76.993874 deg,
      lat: 36.778852 deg,
      lon: -121.859582 deg,
      deltaT: 4.031914 s,
      deltaX: -12.057983 m,
      approachRate: -2.990635 m/s,
      posRepo size: 4

2025-10-27T15:02:49.533Z,1761577369.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.73 m.
2025-10-27T15:02:49.540Z,1761577369.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.729248 m,
      nav range: 429.505890 m,
      bearing: 78.359269 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005023 deg/s,
      cmd heading: 77.952840 deg,
      new cmd heading: 77.947119 deg.

2025-10-27T15:02:49.541Z,1761577369.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360434 target range: 456.729248 and range: 458.90 m.
2025-10-27T15:02:49.708Z,1761577369.708 [DAT](INFO): DAT read: 

2025-10-27T15:02:49.708Z,1761577369.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:49.939Z,1761577369.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210172,-0.951970,-0.222668],[0.947548,0.254438,-0.193426],[0.240791,-0.170336,0.955513]]
2025-10-27T15:02:49.957Z,1761577369.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.73 m.
2025-10-27T15:02:49.960Z,1761577369.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:49.962Z,1761577369.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.729248 m,
      nav range: 429.137787 m,
      bearing: 78.356780 deg,
      approach rate: -0.793165 m/s,
      LOS rate: -0.005368 deg/s,
      cmd heading: 77.947116 deg,
      new cmd heading: 77.939643 deg.

2025-10-27T15:02:49.963Z,1761577369.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360303 target range: 456.729248 and range: 458.90 m.
2025-10-27T15:02:50.212Z,1761577370.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:50.338Z,1761577370.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210598,-0.952094,-0.221734],[0.947464,0.254652,-0.193558],[0.240750,-0.169322,0.955704]]
2025-10-27T15:02:50.386Z,1761577370.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:50.389Z,1761577370.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.73 m.
2025-10-27T15:02:50.408Z,1761577370.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.729248 m,
      nav range: 428.828918 m,
      bearing: 78.355334 deg,
      approach rate: -0.716155 m/s,
      LOS rate: -0.003357 deg/s,
      cmd heading: 77.939644 deg,
      new cmd heading: 77.935301 deg.

2025-10-27T15:02:50.409Z,1761577370.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360228 target range: 456.729248 and range: 458.90 m.
2025-10-27T15:02:50.464Z,1761577370.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:50.716Z,1761577370.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:50.754Z,1761577370.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210855,-0.952282,-0.220677],[0.947485,0.254630,-0.193483],[0.240442,-0.168291,0.955963]]
2025-10-27T15:02:50.790Z,1761577370.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.73 m.
2025-10-27T15:02:50.793Z,1761577370.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.729248 m,
      nav range: 428.533173 m,
      bearing: 78.353957 deg,
      approach rate: -0.736379 m/s,
      LOS rate: -0.003430 deg/s,
      cmd heading: 77.935300 deg,
      new cmd heading: 77.931168 deg.

2025-10-27T15:02:50.794Z,1761577370.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360155 target range: 456.729248 and range: 458.90 m.
2025-10-27T15:02:50.968Z,1761577370.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:51.145Z,1761577371.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211363,-0.952177,-0.220648],[0.947370,0.255114,-0.193407],[0.240448,-0.168156,0.955986]]
2025-10-27T15:02:51.197Z,1761577371.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.73 m.
2025-10-27T15:02:51.200Z,1761577371.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.729248 m,
      nav range: 428.246521 m,
      bearing: 78.353649 deg,
      approach rate: -0.704402 m/s,
      LOS rate: -0.000758 deg/s,
      cmd heading: 77.931168 deg,
      new cmd heading: 77.930242 deg.

2025-10-27T15:02:51.201Z,1761577371.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360139 target range: 456.729248 and range: 458.90 m.
2025-10-27T15:02:51.220Z,1761577371.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:51.472Z,1761577371.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:51.549Z,1761577371.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212222,-0.952081,-0.220237],[0.947326,0.255755,-0.192774],[0.239863,-0.167725,0.956208]]
2025-10-27T15:02:51.573Z,1761577371.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.73 m.
2025-10-27T15:02:51.576Z,1761577371.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.729248 m,
      nav range: 427.981506 m,
      bearing: 78.353395 deg,
      approach rate: -0.704982 m/s,
      LOS rate: -0.000676 deg/s,
      cmd heading: 77.930245 deg,
      new cmd heading: 77.929483 deg.

2025-10-27T15:02:51.577Z,1761577371.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360126 target range: 456.729248 and range: 458.90 m.
2025-10-27T15:02:51.724Z,1761577371.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:51.953Z,1761577371.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212824,-0.952272,-0.218822],[0.947430,0.255883,-0.192094],[0.238919,-0.166437,0.956669]]
2025-10-27T15:02:51.971Z,1761577371.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.73 m.
2025-10-27T15:02:51.974Z,1761577371.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.729248 m,
      nav range: 427.701080 m,
      bearing: 78.353148 deg,
      approach rate: -0.704937 m/s,
      LOS rate: -0.000621 deg/s,
      cmd heading: 77.929480 deg,
      new cmd heading: 77.928740 deg.

2025-10-27T15:02:51.976Z,1761577371.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:51.991Z,1761577371.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360113 target range: 456.729248 and range: 458.90 m.
2025-10-27T15:02:52.229Z,1761577372.229 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:52.357Z,1761577372.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213661,-0.952235,-0.218168],[0.947470,0.256399,-0.191207],[0.238012,-0.165854,0.956997]]
2025-10-27T15:02:52.402Z,1761577372.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:52.405Z,1761577372.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.73 m.
2025-10-27T15:02:52.407Z,1761577372.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.729248 m,
      nav range: 427.399689 m,
      bearing: 78.353315 deg,
      approach rate: -0.695216 m/s,
      LOS rate: 0.000384 deg/s,
      cmd heading: 77.928743 deg,
      new cmd heading: 77.929242 deg.

2025-10-27T15:02:52.408Z,1761577372.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360122 target range: 456.729248 and range: 458.90 m.
2025-10-27T15:02:52.480Z,1761577372.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:52.733Z,1761577372.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:52.769Z,1761577372.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214690,-0.952104,-0.217731],[0.947418,0.257179,-0.190414],[0.237290,-0.165402,0.957254]]
2025-10-27T15:02:52.790Z,1761577372.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.73 m.
2025-10-27T15:02:52.793Z,1761577372.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.729248 m,
      nav range: 427.133362 m,
      bearing: 78.353499 deg,
      approach rate: -0.690576 m/s,
      LOS rate: 0.000479 deg/s,
      cmd heading: 77.929241 deg,
      new cmd heading: 77.929796 deg.

2025-10-27T15:02:52.794Z,1761577372.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360132 target range: 456.729248 and range: 458.90 m.
2025-10-27T15:02:52.984Z,1761577372.984 [DAT](INFO): DAT read: Rx Time:15:02:51.5871

2025-10-27T15:02:52.984Z,1761577372.984 [DAT](INFO): Rx dataTimestamp_ set to:1761577372.984173
2025-10-27T15:02:52.985Z,1761577372.985 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:53.165Z,1761577373.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215477,-0.952475,-0.215317],[0.947541,0.257247,-0.189712],[0.236086,-0.163143,0.957939]]
2025-10-27T15:02:53.212Z,1761577373.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.73 m.
2025-10-27T15:02:53.215Z,1761577373.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.729248 m,
      nav range: 426.849915 m,
      bearing: 78.354275 deg,
      approach rate: -0.671204 m/s,
      LOS rate: 0.001838 deg/s,
      cmd heading: 77.929795 deg,
      new cmd heading: 77.932123 deg.

2025-10-27T15:02:53.216Z,1761577373.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360172 target range: 456.729248 and range: 458.90 m.
2025-10-27T15:02:53.236Z,1761577373.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:53.505Z,1761577373.505 [DAT](INFO): DAT read: 15:02:51.5871 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 405, 0.15, 3.012, 1.469,-3.117, 2.629, PHS= 0.485,-1.115, 0.494, RAW= 150.3,   1.7, CAL= 149.2,   1.4, ROT=   0.8,  -1.4

2025-10-27T15:02:53.506Z,1761577373.506 [DAT](INFO): got valid direction response:
 15:02:51.5871 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 405, 0.15, 3.012, 1.469,-3.117, 2.629, PHS= 0.485,-1.115, 0.494, RAW= 150.3,   1.7, CAL= 149.2,   1.4, ROT=   0.8,  -1.4

2025-10-27T15:02:53.508Z,1761577373.508 [DAT](INFO): DAT read: Bearing 219.1,  13.9 (Local)

2025-10-27T15:02:53.509Z,1761577373.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.1,  13.9 (Local)

2025-10-27T15:02:53.510Z,1761577373.510 [DAT](INFO): DAT read: Range 11 to 50 : 456.4 m  (Round-trip  608.6 ms) speed  0.4 m/s

2025-10-27T15:02:53.511Z,1761577373.511 [DAT](INFO): DAT read: user:875>Tx time:15:02:52.6743

2025-10-27T15:02:53.512Z,1761577373.512 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:53.513Z,1761577373.513 [DAT](INFO): direction in FSK: [0.999604,0.013958,0.024432]
2025-10-27T15:02:53.513Z,1761577373.513 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:53.517Z,1761577373.517 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:53.517Z,1761577373.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:53.570Z,1761577373.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216382,-0.952473,-0.214416],[0.947534,0.257804,-0.188988],[0.235283,-0.162273,0.958285]]
2025-10-27T15:02:53.641Z,1761577373.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 456.399994 m,
      deltaT: 4.033900 s,
      deltaX: -2.500000 m,
      approachRate: -0.619748 m/s,
      rangeRepo size: 4

2025-10-27T15:02:53.647Z,1761577373.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 454.241302 m,
      bearing: 78.193979 deg,
      lat: 36.778852 deg,
      lon: -121.859573 deg,
      deltaT: 4.033900 s,
      deltaX: -2.487946 m,
      approachRate: -0.616759 m/s,
      posRepo size: 4

2025-10-27T15:02:53.648Z,1761577373.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:53.655Z,1761577373.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 427.330994 m,
      bearing: 78.375762 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001838 deg/s,
      cmd heading: 77.932124 deg,
      new cmd heading: 77.934484 deg.

2025-10-27T15:02:53.656Z,1761577373.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360213 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:53.741Z,1761577373.741 [DAT](INFO): DAT read: 

2025-10-27T15:02:53.741Z,1761577373.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:53.974Z,1761577373.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217579,-0.952645,-0.212432],[0.947546,0.258371,-0.188153],[0.234129,-0.160351,0.958891]]
2025-10-27T15:02:53.992Z,1761577373.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:54.003Z,1761577374.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:54.006Z,1761577374.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 427.073822 m,
      bearing: 78.376552 deg,
      approach rate: -0.710117 m/s,
      LOS rate: 0.002181 deg/s,
      cmd heading: 77.934487 deg,
      new cmd heading: 77.936857 deg.

2025-10-27T15:02:54.007Z,1761577374.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360255 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:54.244Z,1761577374.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:54.377Z,1761577374.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218633,-0.952528,-0.211872],[0.947493,0.259149,-0.187347],[0.233360,-0.159787,0.959172]]
2025-10-27T15:02:54.430Z,1761577374.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:54.433Z,1761577374.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:54.436Z,1761577374.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 426.789398 m,
      bearing: 78.377391 deg,
      approach rate: -0.661720 m/s,
      LOS rate: 0.001954 deg/s,
      cmd heading: 77.936857 deg,
      new cmd heading: 77.939377 deg.

2025-10-27T15:02:54.437Z,1761577374.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360299 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:54.496Z,1761577374.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:54.749Z,1761577374.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:54.782Z,1761577374.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219720,-0.952347,-0.211564],[0.947507,0.259958,-0.186154],[0.232281,-0.159556,0.959473]]
2025-10-27T15:02:54.811Z,1761577374.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:54.813Z,1761577374.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 426.538391 m,
      bearing: 78.378169 deg,
      approach rate: -0.663812 m/s,
      LOS rate: 0.002059 deg/s,
      cmd heading: 77.939377 deg,
      new cmd heading: 77.941714 deg.

2025-10-27T15:02:54.814Z,1761577374.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360340 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:54.000Z,1761577375.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:55.186Z,1761577375.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221337,-0.951565,-0.213388],[0.947473,0.261638,-0.183956],[0.230876,-0.161463,0.959493]]
2025-10-27T15:02:55.245Z,1761577375.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:55.252Z,1761577375.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:55.254Z,1761577375.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 426.270233 m,
      bearing: 78.379676 deg,
      approach rate: -0.617541 m/s,
      LOS rate: 0.003473 deg/s,
      cmd heading: 77.941713 deg,
      new cmd heading: 77.946237 deg.

2025-10-27T15:02:55.260Z,1761577375.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360418 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:55.506Z,1761577375.506 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:55.593Z,1761577375.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222498,-0.950927,-0.215018],[0.947478,0.262879,-0.182153],[0.229737,-0.163197,0.959473]]
2025-10-27T15:02:55.611Z,1761577375.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:55.613Z,1761577375.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 426.016296 m,
      bearing: 78.381144 deg,
      approach rate: -0.694270 m/s,
      LOS rate: 0.004015 deg/s,
      cmd heading: 77.946235 deg,
      new cmd heading: 77.950641 deg.

2025-10-27T15:02:55.614Z,1761577375.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360495 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:55.756Z,1761577375.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:55.993Z,1761577375.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223632,-0.950472,-0.215851],[0.947533,0.263904,-0.180379],[0.228409,-0.164188,0.959621]]
2025-10-27T15:02:56.008Z,1761577376.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:56.030Z,1761577376.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:56.037Z,1761577376.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 425.753876 m,
      bearing: 78.382701 deg,
      approach rate: -0.625917 m/s,
      LOS rate: 0.003718 deg/s,
      cmd heading: 77.950640 deg,
      new cmd heading: 77.955316 deg.

2025-10-27T15:02:56.038Z,1761577376.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360577 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:56.261Z,1761577376.261 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:56.399Z,1761577376.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224805,-0.949965,-0.216863],[0.947586,0.264990,-0.178495],[0.227030,-0.165370,0.959745]]
2025-10-27T15:02:56.440Z,1761577376.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:56.442Z,1761577376.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:56.445Z,1761577376.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 425.480743 m,
      bearing: 78.383896 deg,
      approach rate: -0.662296 m/s,
      LOS rate: 0.002898 deg/s,
      cmd heading: 77.955319 deg,
      new cmd heading: 77.958905 deg.

2025-10-27T15:02:56.446Z,1761577376.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360640 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:56.513Z,1761577376.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:56.764Z,1761577376.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:56.801Z,1761577376.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226093,-0.949672,-0.216805],[0.947537,0.266037,-0.177196],[0.225956,-0.165369,0.959998]]
2025-10-27T15:02:56.857Z,1761577376.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:56.865Z,1761577376.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 425.221222 m,
      bearing: 78.385078 deg,
      approach rate: -0.625046 m/s,
      LOS rate: 0.002848 deg/s,
      cmd heading: 77.958905 deg,
      new cmd heading: 77.962452 deg.

2025-10-27T15:02:56.866Z,1761577376.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360701 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:57.017Z,1761577377.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:57.268Z,1761577377.268 [DAT](INFO): DAT read: Rx Time:15:02:55.6838

2025-10-27T15:02:57.269Z,1761577377.269 [DAT](INFO): Rx dataTimestamp_ set to:1761577377.268238
2025-10-27T15:02:57.269Z,1761577377.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:57.276Z,1761577377.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:57.278Z,1761577377.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 424.946289 m,
      bearing: 78.387004 deg,
      approach rate: -0.657135 m/s,
      LOS rate: 0.004606 deg/s,
      cmd heading: 77.962450 deg,
      new cmd heading: 77.968232 deg.

2025-10-27T15:02:57.280Z,1761577377.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360802 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:57.521Z,1761577377.521 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:57.613Z,1761577377.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228689,-0.949164,-0.216309],[0.947551,0.267989,-0.174152],[0.223267,-0.165138,0.960667]]
2025-10-27T15:02:57.632Z,1761577377.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.24 m.
2025-10-27T15:02:57.634Z,1761577377.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.241302 m,
      nav range: 424.713440 m,
      bearing: 78.388718 deg,
      approach rate: -0.654444 m/s,
      LOS rate: 0.004821 deg/s,
      cmd heading: 77.968228 deg,
      new cmd heading: 77.973374 deg.

2025-10-27T15:02:57.636Z,1761577377.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360892 target range: 454.241302 and range: 456.40 m.
2025-10-27T15:02:57.777Z,1761577377.777 [DAT](INFO): DAT read: 15:02:55.6838 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 405,-0.14,-0.489,-1.697,-0.390,-0.939, PHS= 0.552,-0.714, 0.505, RAW= 148.1,  -5.6, CAL= 148.0,  -6.8, ROT=   2.0,   6.8

2025-10-27T15:02:57.779Z,1761577377.779 [DAT](INFO): got valid direction response:
 15:02:55.6838 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 405,-0.14,-0.489,-1.697,-0.390,-0.939, PHS= 0.552,-0.714, 0.505, RAW= 148.1,  -5.6, CAL= 148.0,  -6.8, ROT=   2.0,   6.8

2025-10-27T15:02:57.780Z,1761577377.780 [DAT](INFO): DAT read: Bearing 210.0,  16.0 (Local)

2025-10-27T15:02:57.780Z,1761577377.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.0,  16.0 (Local)

2025-10-27T15:02:57.781Z,1761577377.781 [DAT](INFO): DAT read: Range 11 to 50 : 454.0 m  (Round-trip  605.4 ms) speed  0.3 m/s

2025-10-27T15:02:57.782Z,1761577377.782 [DAT](INFO): DAT read: user:876>Tx time:15:02:56.7743

2025-10-27T15:02:57.783Z,1761577377.783 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:02:57.784Z,1761577377.784 [DAT](INFO): direction in FSK: [0.992361,0.034654,-0.118404]
2025-10-27T15:02:57.784Z,1761577377.784 [DAT](INFO): publishing direction and range info
2025-10-27T15:02:57.788Z,1761577377.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:57.788Z,1761577377.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:02:58.018Z,1761577378.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229753,-0.949208,-0.214983],[0.947666,0.268501,-0.172732],[0.221682,-0.164046,0.961221]]
2025-10-27T15:02:58.024Z,1761577378.024 [DAT](INFO): DAT read: 

2025-10-27T15:02:58.024Z,1761577378.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:58.056Z,1761577378.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 454.000000 m,
      deltaT: 4.282022 s,
      deltaX: -2.399994 m,
      approachRate: -0.560481 m/s,
      rangeRepo size: 4

2025-10-27T15:02:58.058Z,1761577378.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 451.840851 m,
      bearing: 77.192215 deg,
      lat: 36.778885 deg,
      lon: -121.859447 deg,
      deltaT: 4.282022 s,
      deltaX: -2.400452 m,
      approachRate: -0.560588 m/s,
      posRepo size: 4

2025-10-27T15:02:58.058Z,1761577378.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.84 m.
2025-10-27T15:02:58.061Z,1761577378.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.840851 m,
      nav range: 436.171509 m,
      bearing: 78.205859 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004821 deg/s,
      cmd heading: 77.973371 deg,
      new cmd heading: 77.979492 deg.

2025-10-27T15:02:58.062Z,1761577378.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360999 target range: 451.840851 and range: 454.00 m.
2025-10-27T15:02:58.276Z,1761577378.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:58.427Z,1761577378.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230258,-0.949614,-0.212637],[0.947929,0.268280,-0.171629],[0.220027,-0.162046,0.961940]]
2025-10-27T15:02:58.474Z,1761577378.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:02:58.488Z,1761577378.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.84 m.
2025-10-27T15:02:58.499Z,1761577378.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.840851 m,
      nav range: 435.904846 m,
      bearing: 78.207201 deg,
      approach rate: -0.615715 m/s,
      LOS rate: 0.003101 deg/s,
      cmd heading: 77.979491 deg,
      new cmd heading: 77.983521 deg.

2025-10-27T15:02:58.500Z,1761577378.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361069 target range: 451.840851 and range: 454.00 m.
2025-10-27T15:02:58.528Z,1761577378.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:58.780Z,1761577378.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:58.872Z,1761577378.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.84 m.
2025-10-27T15:02:58.875Z,1761577378.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.840851 m,
      nav range: 435.640137 m,
      bearing: 78.208535 deg,
      approach rate: -0.688555 m/s,
      LOS rate: 0.003473 deg/s,
      cmd heading: 77.983521 deg,
      new cmd heading: 77.987526 deg.

2025-10-27T15:02:58.876Z,1761577378.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361139 target range: 451.840851 and range: 454.00 m.
2025-10-27T15:02:59.032Z,1761577379.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:59.244Z,1761577379.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230472,-0.950528,-0.208277],[0.948567,0.267198,-0.169781],[0.217033,-0.158435,0.963221]]
2025-10-27T15:02:59.284Z,1761577379.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:59.294Z,1761577379.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.84 m.
2025-10-27T15:02:59.297Z,1761577379.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.840851 m,
      nav range: 435.359192 m,
      bearing: 78.209415 deg,
      approach rate: -0.666322 m/s,
      LOS rate: 0.002087 deg/s,
      cmd heading: 77.987523 deg,
      new cmd heading: 77.990163 deg.

2025-10-27T15:02:59.298Z,1761577379.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361185 target range: 451.840851 and range: 454.00 m.
2025-10-27T15:02:59.537Z,1761577379.537 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:02:59.634Z,1761577379.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231203,-0.950490,-0.207641],[0.948664,0.267593,-0.168614],[0.215830,-0.157997,0.963563]]
2025-10-27T15:02:59.665Z,1761577379.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.84 m.
2025-10-27T15:02:59.672Z,1761577379.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.840851 m,
      nav range: 435.119904 m,
      bearing: 78.210187 deg,
      approach rate: -0.644935 m/s,
      LOS rate: 0.002084 deg/s,
      cmd heading: 77.990160 deg,
      new cmd heading: 77.992479 deg.

2025-10-27T15:02:59.673Z,1761577379.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361226 target range: 451.840851 and range: 454.00 m.
2025-10-27T15:02:59.788Z,1761577379.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:00.038Z,1761577380.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231123,-0.950846,-0.206095],[0.948956,0.267043,-0.167842],[0.214628,-0.156783,0.964030]]
2025-10-27T15:03:00.040Z,1761577380.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:00.069Z,1761577380.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.84 m.
2025-10-27T15:03:00.072Z,1761577380.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.840851 m,
      nav range: 434.842377 m,
      bearing: 78.211080 deg,
      approach rate: -0.686958 m/s,
      LOS rate: 0.002212 deg/s,
      cmd heading: 77.992482 deg,
      new cmd heading: 77.995163 deg.

2025-10-27T15:03:00.073Z,1761577380.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361272 target range: 451.840851 and range: 454.00 m.
2025-10-27T15:03:00.292Z,1761577380.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:00.441Z,1761577380.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230378,-0.951689,-0.203011],[0.949422,0.265569,-0.167544],[0.213363,-0.154145,0.964736]]
2025-10-27T15:03:00.504Z,1761577380.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:00.506Z,1761577380.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.84 m.
2025-10-27T15:03:00.536Z,1761577380.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.840851 m,
      nav range: 434.549805 m,
      bearing: 78.211576 deg,
      approach rate: -0.669396 m/s,
      LOS rate: 0.001134 deg/s,
      cmd heading: 77.995160 deg,
      new cmd heading: 77.996647 deg.

2025-10-27T15:03:00.537Z,1761577380.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361298 target range: 451.840851 and range: 454.00 m.
2025-10-27T15:03:00.544Z,1761577380.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:00.796Z,1761577380.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:00.876Z,1761577380.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229378,-0.952388,-0.200854],[0.949920,0.264033,-0.167145],[0.212220,-0.152456,0.965256]]
2025-10-27T15:03:00.895Z,1761577380.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.84 m.
2025-10-27T15:03:00.898Z,1761577380.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.840851 m,
      nav range: 434.278687 m,
      bearing: 78.211998 deg,
      approach rate: -0.696820 m/s,
      LOS rate: 0.001087 deg/s,
      cmd heading: 77.996649 deg,
      new cmd heading: 77.997917 deg.

2025-10-27T15:03:00.899Z,1761577380.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361320 target range: 451.840851 and range: 454.00 m.
2025-10-27T15:03:01.048Z,1761577381.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:01.274Z,1761577381.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228071,-0.953253,-0.198221],[0.950434,0.262159,-0.167176],[0.211326,-0.150268,0.965796]]
2025-10-27T15:03:01.300Z,1761577381.300 [DAT](INFO): DAT read: Rx Time:15:02:59.7804

2025-10-27T15:03:01.301Z,1761577381.301 [DAT](INFO): Rx dataTimestamp_ set to:1761577381.300368
2025-10-27T15:03:01.301Z,1761577381.301 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:01.319Z,1761577381.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.84 m.
2025-10-27T15:03:01.322Z,1761577381.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.840851 m,
      nav range: 433.978638 m,
      bearing: 78.212487 deg,
      approach rate: -0.707252 m/s,
      LOS rate: 0.001152 deg/s,
      cmd heading: 77.997919 deg,
      new cmd heading: 77.999385 deg.

2025-10-27T15:03:01.324Z,1761577381.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361346 target range: 451.840851 and range: 454.00 m.
2025-10-27T15:03:01.552Z,1761577381.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:01.770Z,1761577381.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226551,-0.954205,-0.195364],[0.950961,0.260065,-0.167450],[0.210589,-0.147847,0.966330]]
2025-10-27T15:03:01.788Z,1761577381.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.84 m.
2025-10-27T15:03:01.790Z,1761577381.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.840851 m,
      nav range: 433.647461 m,
      bearing: 78.212960 deg,
      approach rate: -0.707380 m/s,
      LOS rate: 0.001011 deg/s,
      cmd heading: 77.999387 deg,
      new cmd heading: 78.000807 deg.

2025-10-27T15:03:01.791Z,1761577381.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361371 target range: 451.840851 and range: 454.00 m.
2025-10-27T15:03:01.817Z,1761577381.817 [DAT](INFO): DAT read: 15:02:59.7803 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 401,-0.14, 2.044, 0.748, 2.181, 1.509, PHS= 0.637,-0.716, 0.628, RAW= 149.7,  -8.2, CAL= 149.9,  -9.8, ROT=   0.1,   9.8

2025-10-27T15:03:01.818Z,1761577381.818 [DAT](INFO): got valid direction response:
 15:02:59.7803 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 401,-0.14, 2.044, 0.748, 2.181, 1.509, PHS= 0.637,-0.716, 0.628, RAW= 149.7,  -8.2, CAL= 149.9,  -9.8, ROT=   0.1,   9.8

2025-10-27T15:03:01.819Z,1761577381.819 [DAT](INFO): DAT read: Bearing 205.7,  13.8 (Local)

2025-10-27T15:03:01.820Z,1761577381.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.7,  13.8 (Local)

2025-10-27T15:03:01.821Z,1761577381.821 [DAT](INFO): DAT read: Range 11 to 50 : 451.5 m  (Round-trip  602.0 ms) speed  0.3 m/s

2025-10-27T15:03:01.822Z,1761577381.822 [DAT](INFO): DAT read: user:877>Tx time:15:03:00.8742

2025-10-27T15:03:01.823Z,1761577381.823 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:01.832Z,1761577381.832 [DAT](INFO): direction in FSK: [0.985406,0.001720,-0.170209]
2025-10-27T15:03:01.832Z,1761577381.832 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:01.848Z,1761577381.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:01.849Z,1761577381.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:02.064Z,1761577382.064 [DAT](INFO): DAT read: 

2025-10-27T15:03:02.064Z,1761577382.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:02.182Z,1761577382.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225287,-0.954801,-0.193908],[0.951481,0.258426,-0.167034],[0.209595,-0.146869,0.966695]]
2025-10-27T15:03:02.299Z,1761577382.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 451.500000 m,
      deltaT: 4.039305 s,
      deltaX: -2.500000 m,
      approachRate: -0.618918 m/s,
      rangeRepo size: 4

2025-10-27T15:03:02.301Z,1761577382.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 449.352692 m,
      bearing: 75.310355 deg,
      lat: 36.778974 deg,
      lon: -121.859430 deg,
      deltaT: 4.039305 s,
      deltaX: -2.488159 m,
      approachRate: -0.615987 m/s,
      posRepo size: 4

2025-10-27T15:03:02.302Z,1761577382.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.35 m.
2025-10-27T15:03:02.316Z,1761577382.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:02.329Z,1761577382.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.352692 m,
      nav range: 436.959656 m,
      bearing: 76.984010 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001011 deg/s,
      cmd heading: 78.000808 deg,
      new cmd heading: 78.002344 deg.

2025-10-27T15:03:02.330Z,1761577382.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361398 target range: 449.352692 and range: 451.50 m.
2025-10-27T15:03:02.568Z,1761577382.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:02.744Z,1761577382.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221564,-0.956712,-0.188709],[0.952885,0.253527,-0.166537],[0.207171,-0.142920,0.967809]]
2025-10-27T15:03:02.789Z,1761577382.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:02.791Z,1761577382.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.35 m.
2025-10-27T15:03:02.794Z,1761577382.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.352692 m,
      nav range: 436.579071 m,
      bearing: 76.983512 deg,
      approach rate: -0.766560 m/s,
      LOS rate: -0.001003 deg/s,
      cmd heading: 78.002345 deg,
      new cmd heading: 78.000850 deg.

2025-10-27T15:03:02.795Z,1761577382.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361372 target range: 449.352692 and range: 451.50 m.
2025-10-27T15:03:02.837Z,1761577382.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:03.088Z,1761577383.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:03.126Z,1761577383.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219983,-0.957264,-0.187756],[0.953646,0.251548,-0.165174],[0.205345,-0.142718,0.968228]]
2025-10-27T15:03:03.145Z,1761577383.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.35 m.
2025-10-27T15:03:03.148Z,1761577383.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.352692 m,
      nav range: 436.325317 m,
      bearing: 76.983122 deg,
      approach rate: -0.716450 m/s,
      LOS rate: -0.001102 deg/s,
      cmd heading: 78.000849 deg,
      new cmd heading: 77.999678 deg.

2025-10-27T15:03:03.149Z,1761577383.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361351 target range: 449.352692 and range: 451.50 m.
2025-10-27T15:03:03.340Z,1761577383.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:03.528Z,1761577383.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218561,-0.957808,-0.186641],[0.954399,0.249674,-0.163660],[0.203354,-0.142361,0.968700]]
2025-10-27T15:03:03.572Z,1761577383.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.35 m.
2025-10-27T15:03:03.575Z,1761577383.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.352692 m,
      nav range: 436.013702 m,
      bearing: 76.982081 deg,
      approach rate: -0.729485 m/s,
      LOS rate: -0.002438 deg/s,
      cmd heading: 77.999681 deg,
      new cmd heading: 77.996557 deg.

2025-10-27T15:03:03.576Z,1761577383.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361297 target range: 449.352692 and range: 451.50 m.
2025-10-27T15:03:03.613Z,1761577383.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:03.864Z,1761577383.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:03.934Z,1761577383.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217485,-0.958242,-0.185666],[0.955144,0.248109,-0.161684],[0.200998,-0.142173,0.969220]]
2025-10-27T15:03:03.960Z,1761577383.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.35 m.
2025-10-27T15:03:03.963Z,1761577383.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.352692 m,
      nav range: 435.730042 m,
      bearing: 76.981087 deg,
      approach rate: -0.730490 m/s,
      LOS rate: -0.002562 deg/s,
      cmd heading: 77.996560 deg,
      new cmd heading: 77.993575 deg.

2025-10-27T15:03:03.964Z,1761577383.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361245 target range: 449.352692 and range: 451.50 m.
2025-10-27T15:03:04.116Z,1761577384.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:04.334Z,1761577384.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216426,-0.958305,-0.186578],[0.955936,0.246834,-0.158931],[0.198358,-0.143960,0.969500]]
2025-10-27T15:03:04.368Z,1761577384.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:04.382Z,1761577384.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.35 m.
2025-10-27T15:03:04.385Z,1761577384.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.352692 m,
      nav range: 435.419830 m,
      bearing: 76.980049 deg,
      approach rate: -0.736080 m/s,
      LOS rate: -0.002465 deg/s,
      cmd heading: 77.993575 deg,
      new cmd heading: 77.990459 deg.

2025-10-27T15:03:04.386Z,1761577384.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361190 target range: 449.352692 and range: 451.50 m.
2025-10-27T15:03:04.621Z,1761577384.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:04.751Z,1761577384.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215814,-0.958494,-0.186315],[0.956672,0.245756,-0.156146],[0.195454,-0.144544,0.970003]]
2025-10-27T15:03:04.772Z,1761577384.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.35 m.
2025-10-27T15:03:04.774Z,1761577384.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.352692 m,
      nav range: 435.128174 m,
      bearing: 76.979042 deg,
      approach rate: -0.748240 m/s,
      LOS rate: -0.002585 deg/s,
      cmd heading: 77.990460 deg,
      new cmd heading: 77.987438 deg.

2025-10-27T15:03:04.775Z,1761577384.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361138 target range: 449.352692 and range: 451.50 m.
2025-10-27T15:03:04.872Z,1761577384.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:05.124Z,1761577385.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:05.142Z,1761577385.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215131,-0.958539,-0.186875],[0.957346,0.244792,-0.153513],[0.192893,-0.145879,0.970315]]
2025-10-27T15:03:05.166Z,1761577385.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:05.177Z,1761577385.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.35 m.
2025-10-27T15:03:05.184Z,1761577385.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.352692 m,
      nav range: 434.839691 m,
      bearing: 76.978013 deg,
      approach rate: -0.711749 m/s,
      LOS rate: -0.002541 deg/s,
      cmd heading: 77.987435 deg,
      new cmd heading: 77.984344 deg.

2025-10-27T15:03:05.185Z,1761577385.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361084 target range: 449.352692 and range: 451.50 m.
2025-10-27T15:03:05.376Z,1761577385.376 [DAT](INFO): DAT read: Rx Time:15:03:03.8631

2025-10-27T15:03:05.376Z,1761577385.376 [DAT](INFO): Rx dataTimestamp_ set to:1761577385.376119
2025-10-27T15:03:05.377Z,1761577385.377 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:05.556Z,1761577385.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215088,-0.958312,-0.188081],[0.957899,0.244524,-0.150456],[0.190174,-0.147802,0.970561]]
2025-10-27T15:03:05.602Z,1761577385.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.35 m.
2025-10-27T15:03:05.605Z,1761577385.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.352692 m,
      nav range: 434.520294 m,
      bearing: 76.977237 deg,
      approach rate: -0.751703 m/s,
      LOS rate: -0.001826 deg/s,
      cmd heading: 77.984347 deg,
      new cmd heading: 77.982019 deg.

2025-10-27T15:03:05.606Z,1761577385.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361043 target range: 449.352692 and range: 451.50 m.
2025-10-27T15:03:05.628Z,1761577385.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:05.889Z,1761577385.889 [DAT](INFO): DAT read: 15:03:03.8631 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 274,-0.37,-3.011, 1.804,-2.808, 3.027, PHS= 0.348,-1.178, 0.404, RAW= 151.8,   5.5, CAL= 151.0,   5.7, ROT= 359.0,  -5.7

2025-10-27T15:03:05.890Z,1761577385.890 [DAT](INFO): got valid direction response:
 15:03:03.8631 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 274,-0.37,-3.011, 1.804,-2.808, 3.027, PHS= 0.348,-1.178, 0.404, RAW= 151.8,   5.5, CAL= 151.0,   5.7, ROT= 359.0,  -5.7

2025-10-27T15:03:05.904Z,1761577385.904 [DAT](INFO): DAT read: Bearing 221.7,   9.0 (Local)

2025-10-27T15:03:05.905Z,1761577385.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.7,   9.0 (Local)

2025-10-27T15:03:05.906Z,1761577385.906 [DAT](INFO): DAT read: Range 11 to 50 : 438.6 m  (Round-trip  584.8 ms) speed  0.5 m/s

2025-10-27T15:03:05.907Z,1761577385.907 [DAT](INFO): DAT read: Tx time:15:03:04.9257

2025-10-27T15:03:05.907Z,1761577385.907 [DAT](INFO): Ping request sent.
2025-10-27T15:03:05.908Z,1761577385.908 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:05.908Z,1761577385.908 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:05.909Z,1761577385.909 [DAT](INFO): direction in FSK: [0.994904,-0.017366,0.099320]
2025-10-27T15:03:05.909Z,1761577385.909 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:05.909Z,1761577385.909 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:05.933Z,1761577385.933 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:05.933Z,1761577385.933 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:05.975Z,1761577385.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215148,-0.958407,-0.187529],[0.958398,0.244096,-0.147958],[0.187579,-0.147894,0.971052]]
2025-10-27T15:03:06.028Z,1761577386.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 438.600006 m,
      deltaT: 4.068833 s,
      deltaX: -12.899994 m,
      approachRate: -3.170441 m/s,
      rangeRepo size: 4

2025-10-27T15:03:06.030Z,1761577386.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 436.508972 m,
      bearing: 77.215232 deg,
      lat: 36.778974 deg,
      lon: -121.859430 deg,
      deltaT: 4.068833 s,
      deltaX: -12.843719 m,
      approachRate: -3.156610 m/s,
      posRepo size: 4

2025-10-27T15:03:06.030Z,1761577386.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.51 m.
2025-10-27T15:03:06.037Z,1761577386.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 436.508972 m,
      nav range: 434.230408 m,
      bearing: 76.976531 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001826 deg/s,
      cmd heading: 77.982018 deg,
      new cmd heading: 77.979712 deg.

2025-10-27T15:03:06.038Z,1761577386.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361003 target range: 436.508972 and range: 438.60 m.
2025-10-27T15:03:06.132Z,1761577386.132 [DAT](INFO): DAT read: user:878>

2025-10-27T15:03:06.353Z,1761577386.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215173,-0.958737,-0.185808],[0.958877,0.243473,-0.145863],[0.185084,-0.146781,0.971699]]
2025-10-27T15:03:06.426Z,1761577386.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.51 m.
2025-10-27T15:03:06.433Z,1761577386.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 436.508972 m,
      nav range: 433.940674 m,
      bearing: 76.976070 deg,
      approach rate: -0.717885 m/s,
      LOS rate: -0.001142 deg/s,
      cmd heading: 77.979710 deg,
      new cmd heading: 77.978326 deg.

2025-10-27T15:03:06.434Z,1761577386.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360978 target range: 436.508972 and range: 438.60 m.
2025-10-27T15:03:06.441Z,1761577386.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 67.227737 m.
2025-10-27T15:03:06.761Z,1761577386.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215552,-0.958910,-0.184468],[0.959195,0.243320,-0.144013],[0.182980,-0.145899,0.972230]]
2025-10-27T15:03:06.786Z,1761577386.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.51 m.
2025-10-27T15:03:06.789Z,1761577386.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 436.508972 m,
      nav range: 433.683563 m,
      bearing: 76.975671 deg,
      approach rate: -0.714901 m/s,
      LOS rate: -0.001109 deg/s,
      cmd heading: 77.978323 deg,
      new cmd heading: 77.977126 deg.

2025-10-27T15:03:06.790Z,1761577386.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360958 target range: 436.508972 and range: 438.60 m.
2025-10-27T15:03:07.162Z,1761577387.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216314,-0.958852,-0.183877],[0.959291,0.243763,-0.142623],[0.181576,-0.145540,0.972547]]
2025-10-27T15:03:07.198Z,1761577387.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:07.203Z,1761577387.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.51 m.
2025-10-27T15:03:07.209Z,1761577387.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 436.508972 m,
      nav range: 433.407990 m,
      bearing: 76.975270 deg,
      approach rate: -0.662284 m/s,
      LOS rate: -0.000964 deg/s,
      cmd heading: 77.977128 deg,
      new cmd heading: 77.975924 deg.

2025-10-27T15:03:07.210Z,1761577387.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360937 target range: 436.508972 and range: 438.60 m.
2025-10-27T15:03:07.392Z,1761577387.392 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:07.392Z,1761577387.392 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:07.393Z,1761577387.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:07.569Z,1761577387.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217147,-0.958505,-0.184702],[0.959443,0.244424,-0.140449],[0.179767,-0.146713,0.972707]]
2025-10-27T15:03:07.605Z,1761577387.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.51 m.
2025-10-27T15:03:07.608Z,1761577387.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 436.508972 m,
      nav range: 433.119904 m,
      bearing: 76.975925 deg,
      approach rate: -0.714269 m/s,
      LOS rate: 0.001623 deg/s,
      cmd heading: 77.975926 deg,
      new cmd heading: 77.977890 deg.

2025-10-27T15:03:07.609Z,1761577387.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360971 target range: 436.508972 and range: 438.60 m.
2025-10-27T15:03:07.644Z,1761577387.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736416
2025-10-27T15:03:07.897Z,1761577387.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989248
2025-10-27T15:03:07.970Z,1761577387.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217720,-0.957831,-0.187505],[0.959569,0.245180,-0.138256],[0.178398,-0.149823,0.972485]]
2025-10-27T15:03:07.988Z,1761577387.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.51 m.
2025-10-27T15:03:07.991Z,1761577387.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 436.508972 m,
      nav range: 432.860382 m,
      bearing: 76.976533 deg,
      approach rate: -0.677750 m/s,
      LOS rate: 0.001589 deg/s,
      cmd heading: 77.977893 deg,
      new cmd heading: 77.979718 deg.

2025-10-27T15:03:07.992Z,1761577387.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361003 target range: 436.508972 and range: 438.60 m.
2025-10-27T15:03:08.148Z,1761577388.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240358
2025-10-27T15:03:08.376Z,1761577388.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218327,-0.957517,-0.188400],[0.959655,0.245712,-0.136703],[0.177188,-0.150953,0.972531]]
2025-10-27T15:03:08.400Z,1761577388.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492318
2025-10-27T15:03:08.418Z,1761577388.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.51 m.
2025-10-27T15:03:08.420Z,1761577388.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 436.508972 m,
      nav range: 432.581268 m,
      bearing: 76.977262 deg,
      approach rate: -0.650184 m/s,
      LOS rate: 0.001701 deg/s,
      cmd heading: 77.979717 deg,
      new cmd heading: 77.981907 deg.

2025-10-27T15:03:08.421Z,1761577388.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361041 target range: 436.508972 and range: 438.60 m.
2025-10-27T15:03:08.653Z,1761577388.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745085
2025-10-27T15:03:08.811Z,1761577388.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.51 m.
2025-10-27T15:03:08.814Z,1761577388.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 436.508972 m,
      nav range: 432.325562 m,
      bearing: 76.977931 deg,
      approach rate: -0.649795 m/s,
      LOS rate: 0.001702 deg/s,
      cmd heading: 77.981909 deg,
      new cmd heading: 77.983918 deg.

2025-10-27T15:03:08.816Z,1761577388.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361076 target range: 436.508972 and range: 438.60 m.
2025-10-27T15:03:08.904Z,1761577388.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996518
2025-10-27T15:03:09.156Z,1761577389.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248268
2025-10-27T15:03:09.182Z,1761577389.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219622,-0.957233,-0.188337],[0.959821,0.246573,-0.133962],[0.174672,-0.151349,0.972925]]
2025-10-27T15:03:09.235Z,1761577389.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:09.237Z,1761577389.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.51 m.
2025-10-27T15:03:09.244Z,1761577389.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 436.508972 m,
      nav range: 432.063873 m,
      bearing: 76.978660 deg,
      approach rate: -0.614068 m/s,
      LOS rate: 0.001711 deg/s,
      cmd heading: 77.983917 deg,
      new cmd heading: 77.986104 deg.

2025-10-27T15:03:09.248Z,1761577389.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361114 target range: 436.508972 and range: 438.60 m.
2025-10-27T15:03:09.408Z,1761577389.408 [DAT](INFO): DAT read: Rx Time:15:03:07.9114

2025-10-27T15:03:09.408Z,1761577389.408 [DAT](INFO): Rx dataTimestamp_ set to:1761577389.408126
2025-10-27T15:03:09.409Z,1761577389.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501383
2025-10-27T15:03:09.586Z,1761577389.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220169,-0.957235,-0.187690],[0.959880,0.246858,-0.133010],[0.173655,-0.150875,0.973181]]
2025-10-27T15:03:09.633Z,1761577389.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.51 m.
2025-10-27T15:03:09.636Z,1761577389.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 436.508972 m,
      nav range: 431.797455 m,
      bearing: 76.979354 deg,
      approach rate: -0.673750 m/s,
      LOS rate: 0.001755 deg/s,
      cmd heading: 77.986103 deg,
      new cmd heading: 77.988185 deg.

2025-10-27T15:03:09.637Z,1761577389.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361151 target range: 436.508972 and range: 438.60 m.
2025-10-27T15:03:09.660Z,1761577389.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752258
2025-10-27T15:03:09.891Z,1761577389.891 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:03:09.926Z,1761577389.926 [DAT](INFO): DAT read: 15:03:07.9114 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 415,-0.03,-1.604,-2.974,-1.377,-1.664, PHS= 0.162,-1.265, 0.243, RAW= 152.7,  11.7, CAL= 152.7,  12.9, ROT= 357.3, -12.9

2025-10-27T15:03:09.927Z,1761577389.927 [DAT](INFO): got valid direction response:
 15:03:07.9114 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 415,-0.03,-1.604,-2.974,-1.377,-1.664, PHS= 0.162,-1.265, 0.243, RAW= 152.7,  11.7, CAL= 152.7,  12.9, ROT= 357.3, -12.9

2025-10-27T15:03:09.928Z,1761577389.928 [DAT](INFO): DAT read: Bearing 228.0,   5.0 (Local)

2025-10-27T15:03:09.929Z,1761577389.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.0,   5.0 (Local)

2025-10-27T15:03:09.930Z,1761577389.930 [DAT](INFO): DAT read: Range 11 to 50 : 436.1 m  (Round-trip  581.5 ms) speed  0.4 m/s

2025-10-27T15:03:09.931Z,1761577389.931 [DAT](INFO): DAT read: Tx time:15:03:08.9732

2025-10-27T15:03:09.932Z,1761577389.932 [DAT](INFO): Ping request sent.
2025-10-27T15:03:09.932Z,1761577389.932 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:09.932Z,1761577389.932 [DAT](INFO): DAT read: user:879>

2025-10-27T15:03:09.932Z,1761577389.932 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:09.933Z,1761577389.933 [DAT](INFO): direction in FSK: [0.973679,-0.045918,0.223250]
2025-10-27T15:03:09.934Z,1761577389.934 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:09.934Z,1761577389.934 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:09.937Z,1761577389.937 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:09.937Z,1761577389.937 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:09.990Z,1761577389.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220795,-0.957196,-0.187149],[0.959978,0.247185,-0.131692],[0.172316,-0.150582,0.973464]]
2025-10-27T15:03:10.046Z,1761577390.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 436.100006 m,
      deltaT: 4.031909 s,
      deltaX: -2.500000 m,
      approachRate: -0.620054 m/s,
      rangeRepo size: 4

2025-10-27T15:03:10.052Z,1761577390.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 434.021790 m,
      bearing: 76.346517 deg,
      lat: 36.778948 deg,
      lon: -121.859447 deg,
      deltaT: 4.031909 s,
      deltaX: -2.487183 m,
      approachRate: -0.616875 m/s,
      posRepo size: 4

2025-10-27T15:03:10.053Z,1761577390.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:10.072Z,1761577390.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 429.370544 m,
      bearing: 77.318487 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001755 deg/s,
      cmd heading: 77.988186 deg,
      new cmd heading: 77.990357 deg.

2025-10-27T15:03:10.073Z,1761577390.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361189 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:10.426Z,1761577390.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221117,-0.957198,-0.186762],[0.960107,0.247268,-0.130588],[0.171179,-0.150436,0.973687]]
2025-10-27T15:03:10.484Z,1761577390.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:10.486Z,1761577390.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 429.082153 m,
      bearing: 77.319593 deg,
      approach rate: -0.657308 m/s,
      LOS rate: 0.002523 deg/s,
      cmd heading: 77.990358 deg,
      new cmd heading: 77.993679 deg.

2025-10-27T15:03:10.488Z,1761577390.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361246 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:10.810Z,1761577390.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221529,-0.957185,-0.186339],[0.960228,0.247424,-0.129400],[0.169965,-0.150262,0.973927]]
2025-10-27T15:03:10.841Z,1761577390.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:10.844Z,1761577390.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 428.853943 m,
      bearing: 77.320481 deg,
      approach rate: -0.638726 m/s,
      LOS rate: 0.002487 deg/s,
      cmd heading: 77.993677 deg,
      new cmd heading: 77.996343 deg.

2025-10-27T15:03:10.845Z,1761577390.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361293 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:10.896Z,1761577390.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:03:11.224Z,1761577391.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221871,-0.957146,-0.186132],[0.960382,0.247524,-0.128056],[0.168641,-0.150346,0.974144]]
2025-10-27T15:03:11.241Z,1761577391.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:11.259Z,1761577391.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:11.266Z,1761577391.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 428.598633 m,
      bearing: 77.321486 deg,
      approach rate: -0.635458 m/s,
      LOS rate: 0.002502 deg/s,
      cmd heading: 77.996341 deg,
      new cmd heading: 77.999357 deg.

2025-10-27T15:03:11.284Z,1761577391.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361346 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:11.424Z,1761577391.424 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:11.424Z,1761577391.424 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:11.424Z,1761577391.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:11.618Z,1761577391.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222354,-0.957341,-0.184545],[0.960566,0.247522,-0.126676],[0.166951,-0.149100,0.974626]]
2025-10-27T15:03:11.662Z,1761577391.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:11.665Z,1761577391.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 428.321289 m,
      bearing: 77.322091 deg,
      approach rate: -0.661088 m/s,
      LOS rate: 0.001442 deg/s,
      cmd heading: 77.999360 deg,
      new cmd heading: 78.001175 deg.

2025-10-27T15:03:11.666Z,1761577391.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361377 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:11.676Z,1761577391.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744358
2025-10-27T15:03:11.929Z,1761577391.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997243
2025-10-27T15:03:12.022Z,1761577392.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222620,-0.957377,-0.184036],[0.960724,0.247518,-0.125475],[0.165679,-0.148875,0.974878]]
2025-10-27T15:03:12.050Z,1761577392.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:12.052Z,1761577392.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 428.065308 m,
      bearing: 77.322657 deg,
      approach rate: -0.660974 m/s,
      LOS rate: 0.001464 deg/s,
      cmd heading: 78.001177 deg,
      new cmd heading: 78.002878 deg.

2025-10-27T15:03:12.053Z,1761577392.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361407 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:12.180Z,1761577392.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248193
2025-10-27T15:03:12.432Z,1761577392.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500319
2025-10-27T15:03:12.434Z,1761577392.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222911,-0.957069,-0.185280],[0.960924,0.247722,-0.123524],[0.164119,-0.150505,0.974891]]
2025-10-27T15:03:12.496Z,1761577392.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:12.499Z,1761577392.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 427.756531 m,
      bearing: 77.323221 deg,
      approach rate: -0.691266 m/s,
      LOS rate: 0.001262 deg/s,
      cmd heading: 78.002878 deg,
      new cmd heading: 78.004569 deg.

2025-10-27T15:03:12.500Z,1761577392.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361437 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:12.684Z,1761577392.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752271
2025-10-27T15:03:12.830Z,1761577392.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222667,-0.957088,-0.185479],[0.961148,0.247355,-0.122515],[0.163137,-0.150993,0.974981]]
2025-10-27T15:03:12.854Z,1761577392.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:12.857Z,1761577392.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 427.507751 m,
      bearing: 77.323665 deg,
      approach rate: -0.694425 m/s,
      LOS rate: 0.001241 deg/s,
      cmd heading: 78.004572 deg,
      new cmd heading: 78.005905 deg.

2025-10-27T15:03:12.858Z,1761577392.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361460 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:12.936Z,1761577392.936 [DAT](INFO): DAT read: Rx Time:15:03:11.4584

2025-10-27T15:03:12.937Z,1761577392.937 [DAT](INFO): Rx dataTimestamp_ set to:1761577392.936415
2025-10-27T15:03:12.938Z,1761577392.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005992
2025-10-27T15:03:13.189Z,1761577393.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257573
2025-10-27T15:03:13.234Z,1761577393.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222581,-0.957037,-0.185846],[0.961367,0.247132,-0.121243],[0.161963,-0.151680,0.975070]]
2025-10-27T15:03:13.258Z,1761577393.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:13.260Z,1761577393.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:13.262Z,1761577393.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 427.227081 m,
      bearing: 77.324161 deg,
      approach rate: -0.692319 m/s,
      LOS rate: 0.001223 deg/s,
      cmd heading: 78.005903 deg,
      new cmd heading: 78.007391 deg.

2025-10-27T15:03:13.287Z,1761577393.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361486 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:13.448Z,1761577393.448 [DAT](INFO): DAT read: 15:03:11.4584 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 320,-0.06,-2.284, 2.912,-2.001,-2.130, PHS=-0.051,-1.196, 0.085, RAW= 155.6,  18.6, CAL= 157.0,  23.0, ROT= 353.0, -23.0

2025-10-27T15:03:13.449Z,1761577393.449 [DAT](INFO): got valid direction response:
 15:03:11.4584 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 320,-0.06,-2.284, 2.912,-2.001,-2.130, PHS=-0.051,-1.196, 0.085, RAW= 155.6,  18.6, CAL= 157.0,  23.0, ROT= 353.0, -23.0

2025-10-27T15:03:13.449Z,1761577393.449 [DAT](INFO): DAT read: OK

2025-10-27T15:03:13.449Z,1761577393.449 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T15:03:13.450Z,1761577393.450 [DAT](INFO): DAT read: user:880>

2025-10-27T15:03:13.451Z,1761577393.451 [DAT](INFO): DAT read: Tx time:15:03:12.5232

2025-10-27T15:03:13.451Z,1761577393.451 [DAT](INFO): Ping request sent.
2025-10-27T15:03:13.451Z,1761577393.451 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:13.452Z,1761577393.452 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T15:03:13.453Z,1761577393.453 [DAT](INFO): direction in FSK: [0.913644,-0.112181,0.390731]
2025-10-27T15:03:13.453Z,1761577393.453 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:13.456Z,1761577393.456 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:13.647Z,1761577393.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222189,-0.957202,-0.185463],[0.961637,0.246531,-0.120320],[0.160893,-0.151614,0.975257]]
2025-10-27T15:03:13.684Z,1761577393.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:13.691Z,1761577393.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 426.938812 m,
      bearing: 77.325038 deg,
      approach rate: -0.680273 m/s,
      LOS rate: 0.002072 deg/s,
      cmd heading: 78.007392 deg,
      new cmd heading: 78.010027 deg.

2025-10-27T15:03:13.716Z,1761577393.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361532 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:14.046Z,1761577394.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220574,-0.957277,-0.186996],[0.962238,0.244922,-0.118794],[0.159518,-0.153732,0.975152]]
2025-10-27T15:03:14.063Z,1761577394.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:14.066Z,1761577394.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 426.680389 m,
      bearing: 77.325761 deg,
      approach rate: -0.680893 m/s,
      LOS rate: 0.001907 deg/s,
      cmd heading: 78.010029 deg,
      new cmd heading: 78.012200 deg.

2025-10-27T15:03:14.083Z,1761577394.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361570 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:14.544Z,1761577394.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219651,-0.957649,-0.186177],[0.962641,0.243731,-0.117970],[0.158351,-0.153309,0.975408]]
2025-10-27T15:03:14.590Z,1761577394.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:14.593Z,1761577394.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 426.306610 m,
      bearing: 77.326732 deg,
      approach rate: -0.709714 m/s,
      LOS rate: 0.001844 deg/s,
      cmd heading: 78.012201 deg,
      new cmd heading: 78.015114 deg.

2025-10-27T15:03:14.594Z,1761577394.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361621 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:14.948Z,1761577394.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217602,-0.959067,-0.181220],[0.963336,0.240892,-0.118127],[0.156946,-0.148871,0.976322]]
2025-10-27T15:03:14.972Z,1761577394.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:14.976Z,1761577394.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 426.034912 m,
      bearing: 77.327365 deg,
      approach rate: -0.710606 m/s,
      LOS rate: 0.001658 deg/s,
      cmd heading: 78.015117 deg,
      new cmd heading: 78.017019 deg.

2025-10-27T15:03:14.977Z,1761577394.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361654 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:15.464Z,1761577395.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215502,-0.960038,-0.178568],[0.964112,0.238220,-0.117218],[0.155072,-0.146899,0.976920]]
2025-10-27T15:03:15.517Z,1761577395.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:15.575Z,1761577395.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:15.578Z,1761577395.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 425.634949 m,
      bearing: 77.328317 deg,
      approach rate: -0.731817 m/s,
      LOS rate: 0.001742 deg/s,
      cmd heading: 78.017016 deg,
      new cmd heading: 78.019873 deg.

2025-10-27T15:03:15.584Z,1761577395.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361704 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:15.716Z,1761577395.716 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:15.716Z,1761577395.716 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:15.716Z,1761577395.716 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:15.972Z,1761577395.972 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:15.972Z,1761577395.972 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:15.972Z,1761577395.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:16.049Z,1761577396.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211827,-0.961862,-0.173062],[0.965721,0.233194,-0.114032],[0.150040,-0.142975,0.978287]]
2025-10-27T15:03:16.074Z,1761577396.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:16.077Z,1761577396.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 425.227509 m,
      bearing: 77.329075 deg,
      approach rate: -0.734009 m/s,
      LOS rate: 0.001367 deg/s,
      cmd heading: 78.019871 deg,
      new cmd heading: 78.022147 deg.

2025-10-27T15:03:16.078Z,1761577396.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361743 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:16.224Z,1761577396.224 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:16.224Z,1761577396.224 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:16.224Z,1761577396.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:16.479Z,1761577396.479 [DAT](INFO): DAT read: Rx Time:15:03:14.9936

2025-10-27T15:03:16.480Z,1761577396.480 [DAT](INFO): Rx dataTimestamp_ set to:1761577396.479448
2025-10-27T15:03:16.481Z,1761577396.481 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:16.481Z,1761577396.481 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:16.481Z,1761577396.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:16.554Z,1761577396.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:16.557Z,1761577396.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 424.870392 m,
      bearing: 77.329995 deg,
      approach rate: -0.743179 m/s,
      LOS rate: 0.001917 deg/s,
      cmd heading: 78.022146 deg,
      new cmd heading: 78.024910 deg.

2025-10-27T15:03:16.558Z,1761577396.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361792 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:16.729Z,1761577396.729 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:16.729Z,1761577396.729 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:16.729Z,1761577396.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:16.898Z,1761577396.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208497,-0.963560,-0.167574],[0.967316,0.228448,-0.110050],[0.144322,-0.139152,0.979698]]
2025-10-27T15:03:16.924Z,1761577396.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:16.926Z,1761577396.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 424.596222 m,
      bearing: 77.330570 deg,
      approach rate: -0.742569 m/s,
      LOS rate: 0.001559 deg/s,
      cmd heading: 78.024912 deg,
      new cmd heading: 78.026639 deg.

2025-10-27T15:03:16.927Z,1761577396.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361822 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:16.987Z,1761577396.987 [DAT](INFO): DAT read: 15:03:14.9936 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 300,-0.21, 1.496, 0.283, 1.816, 1.597, PHS= 0.001,-1.268, 0.175, RAW= 156.4,  15.8, CAL= 157.2,  18.2, ROT= 352.8, -18.2

2025-10-27T15:03:16.988Z,1761577396.988 [DAT](INFO): got valid direction response:
 15:03:14.9936 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 300,-0.21, 1.496, 0.283, 1.816, 1.597, PHS= 0.001,-1.268, 0.175, RAW= 156.4,  15.8, CAL= 157.2,  18.2, ROT= 352.8, -18.2

2025-10-27T15:03:16.989Z,1761577396.989 [DAT](INFO): DAT read: OK

2025-10-27T15:03:16.989Z,1761577396.989 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T15:03:16.989Z,1761577396.989 [DAT](INFO): DAT read: user:881>

2025-10-27T15:03:16.990Z,1761577396.990 [DAT](INFO): DAT read: Tx time:15:03:16.0732

2025-10-27T15:03:16.990Z,1761577396.990 [DAT](INFO): Ping request sent.
2025-10-27T15:03:16.990Z,1761577396.990 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:16.991Z,1761577396.991 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-27T15:03:16.992Z,1761577396.992 [DAT](INFO): direction in FSK: [0.942481,-0.119063,0.312335]
2025-10-27T15:03:16.992Z,1761577396.992 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:17.000Z,1761577397.000 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:17.331Z,1761577397.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:17.334Z,1761577397.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 424.301239 m,
      bearing: 77.331190 deg,
      approach rate: -0.724041 m/s,
      LOS rate: 0.001523 deg/s,
      cmd heading: 78.026640 deg,
      new cmd heading: 78.028501 deg.

2025-10-27T15:03:17.335Z,1761577397.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361854 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:17.704Z,1761577397.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206571,-0.964853,-0.162439],[0.968664,0.225071,-0.105036],[0.137905,-0.135651,0.981112]]
2025-10-27T15:03:17.776Z,1761577397.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:17.778Z,1761577397.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:17.781Z,1761577397.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 423.985992 m,
      bearing: 77.332233 deg,
      approach rate: -0.704510 m/s,
      LOS rate: 0.002332 deg/s,
      cmd heading: 78.028498 deg,
      new cmd heading: 78.031629 deg.

2025-10-27T15:03:17.782Z,1761577397.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361909 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:17.988Z,1761577397.988 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:17.988Z,1761577397.988 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:17.989Z,1761577397.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:18.094Z,1761577398.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206466,-0.964997,-0.161718],[0.969169,0.224409,-0.101747],[0.134476,-0.135725,0.981578]]
2025-10-27T15:03:18.112Z,1761577398.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:18.135Z,1761577398.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 423.723877 m,
      bearing: 77.333093 deg,
      approach rate: -0.785228 m/s,
      LOS rate: 0.002578 deg/s,
      cmd heading: 78.031626 deg,
      new cmd heading: 78.034208 deg.

2025-10-27T15:03:18.136Z,1761577398.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361954 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:18.240Z,1761577398.240 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:18.240Z,1761577398.240 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:18.240Z,1761577398.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:18.493Z,1761577398.493 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:18.494Z,1761577398.494 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:18.494Z,1761577398.494 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:18.545Z,1761577398.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207013,-0.964699,-0.162795],[0.969524,0.224574,-0.097925],[0.131028,-0.137562,0.981788]]
2025-10-27T15:03:18.592Z,1761577398.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:18.595Z,1761577398.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 423.383942 m,
      bearing: 77.334442 deg,
      approach rate: -0.708027 m/s,
      LOS rate: 0.002812 deg/s,
      cmd heading: 78.034208 deg,
      new cmd heading: 78.038258 deg.

2025-10-27T15:03:18.596Z,1761577398.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362025 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:18.744Z,1761577398.744 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:18.744Z,1761577398.744 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:18.745Z,1761577398.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:18.926Z,1761577398.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207771,-0.964588,-0.162483],[0.969787,0.224837,-0.094662],[0.127842,-0.137906,0.982160]]
2025-10-27T15:03:18.945Z,1761577398.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:18.968Z,1761577398.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 423.134094 m,
      bearing: 77.335457 deg,
      approach rate: -0.708894 m/s,
      LOS rate: 0.002882 deg/s,
      cmd heading: 78.038258 deg,
      new cmd heading: 78.041306 deg.

2025-10-27T15:03:18.969Z,1761577398.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362078 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:18.996Z,1761577398.996 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:18.996Z,1761577398.996 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:18.996Z,1761577398.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:19.248Z,1761577399.248 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:19.248Z,1761577399.248 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:19.248Z,1761577399.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:19.330Z,1761577399.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209003,-0.964217,-0.163107],[0.969935,0.225657,-0.091128],[0.124674,-0.139157,0.982391]]
2025-10-27T15:03:19.356Z,1761577399.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:19.358Z,1761577399.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 422.842773 m,
      bearing: 77.336688 deg,
      approach rate: -0.709122 m/s,
      LOS rate: 0.002997 deg/s,
      cmd heading: 78.041304 deg,
      new cmd heading: 78.044998 deg.

2025-10-27T15:03:19.359Z,1761577399.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362142 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:19.502Z,1761577399.502 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:19.502Z,1761577399.502 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:19.502Z,1761577399.502 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:19.741Z,1761577399.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210519,-0.963383,-0.166056],[0.970011,0.226962,-0.086989],[0.121493,-0.142763,0.982272]]
2025-10-27T15:03:19.752Z,1761577399.752 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:19.752Z,1761577399.752 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:19.753Z,1761577399.753 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:19.809Z,1761577399.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:19.811Z,1761577399.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:19.814Z,1761577399.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 422.522400 m,
      bearing: 77.337705 deg,
      approach rate: -0.703495 m/s,
      LOS rate: 0.002236 deg/s,
      cmd heading: 78.044999 deg,
      new cmd heading: 78.048054 deg.

2025-10-27T15:03:19.815Z,1761577399.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362195 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:20.004Z,1761577400.004 [DAT](INFO): DAT read: Rx Time:15:03:18.5551

2025-10-27T15:03:20.004Z,1761577400.004 [DAT](INFO): Rx dataTimestamp_ set to:1761577400.004149
2025-10-27T15:03:20.005Z,1761577400.005 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:20.005Z,1761577400.005 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:20.005Z,1761577400.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:20.138Z,1761577400.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212213,-0.962501,-0.168990],[0.970012,0.228444,-0.083010],[0.118502,-0.146307,0.982116]]
2025-10-27T15:03:20.162Z,1761577400.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:20.165Z,1761577400.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 422.274536 m,
      bearing: 77.338547 deg,
      approach rate: -0.705783 m/s,
      LOS rate: 0.002399 deg/s,
      cmd heading: 78.048053 deg,
      new cmd heading: 78.050580 deg.

2025-10-27T15:03:20.166Z,1761577400.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362240 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:20.256Z,1761577400.256 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:20.256Z,1761577400.256 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:20.256Z,1761577400.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:20.569Z,1761577400.569 [DAT](INFO): DAT read: 15:03:18.5551 LVL= 25488, 31217, 28274, 26803, AGC= 70, IDX=  46, 0.47,-2.579, 2.278,-2.370,-2.989, PHS= 0.512,-0.971, 0.575, RAW= 152.1,  -1.6, CAL= 151.2,  -2.5, ROT= 358.8,   2.5

2025-10-27T15:03:20.570Z,1761577400.570 [DAT](INFO): got valid direction response:
 15:03:18.5551 LVL= 25488, 31217, 28274, 26803, AGC= 70, IDX=  46, 0.47,-2.579, 2.278,-2.370,-2.989, PHS= 0.512,-0.971, 0.575, RAW= 152.1,  -1.6, CAL= 151.2,  -2.5, ROT= 358.8,   2.5

2025-10-27T15:03:20.570Z,1761577400.570 [DAT](INFO): DAT read: OK

2025-10-27T15:03:20.579Z,1761577400.579 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T15:03:20.579Z,1761577400.579 [DAT](INFO): DAT read: user:882>

2025-10-27T15:03:20.580Z,1761577400.580 [DAT](INFO): DAT read: Tx time:15:03:19.6742

2025-10-27T15:03:20.581Z,1761577400.581 [DAT](INFO): Ping request sent.
2025-10-27T15:03:20.581Z,1761577400.581 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:20.581Z,1761577400.581 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-27T15:03:20.582Z,1761577400.582 [DAT](INFO): direction in FSK: [0.998829,-0.020922,-0.043619]
2025-10-27T15:03:20.582Z,1761577400.582 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:20.594Z,1761577400.594 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:20.597Z,1761577400.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213848,-0.961644,-0.171785],[0.969985,0.229870,-0.079307],[0.115754,-0.149669,0.981937]]
2025-10-27T15:03:20.707Z,1761577400.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:20.710Z,1761577400.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 421.921356 m,
      bearing: 77.339046 deg,
      approach rate: -0.662862 m/s,
      LOS rate: 0.000936 deg/s,
      cmd heading: 78.050580 deg,
      new cmd heading: 78.052076 deg.

2025-10-27T15:03:20.715Z,1761577400.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362266 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:21.044Z,1761577401.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215314,-0.960745,-0.174953],[0.969976,0.231150,-0.075602],[0.113074,-0.153422,0.981670]]
2025-10-27T15:03:21.062Z,1761577401.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:21.065Z,1761577401.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 421.643311 m,
      bearing: 77.339490 deg,
      approach rate: -0.758262 m/s,
      LOS rate: 0.001213 deg/s,
      cmd heading: 78.052076 deg,
      new cmd heading: 78.053409 deg.

2025-10-27T15:03:21.066Z,1761577401.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362289 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:21.438Z,1761577401.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216704,-0.960239,-0.176014],[0.969958,0.232199,-0.072565],[0.110550,-0.155001,0.981709]]
2025-10-27T15:03:21.477Z,1761577401.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:21.502Z,1761577401.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 421.366943 m,
      bearing: 77.339982 deg,
      approach rate: -0.667375 m/s,
      LOS rate: 0.001190 deg/s,
      cmd heading: 78.053407 deg,
      new cmd heading: 78.054886 deg.

2025-10-27T15:03:21.544Z,1761577401.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362315 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:21.842Z,1761577401.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217806,-0.959859,-0.176725],[0.969987,0.232944,-0.069736],[0.108104,-0.156232,0.981787]]
2025-10-27T15:03:21.892Z,1761577401.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:21.894Z,1761577401.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:21.897Z,1761577401.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 421.061798 m,
      bearing: 77.340293 deg,
      approach rate: -0.730025 m/s,
      LOS rate: 0.000743 deg/s,
      cmd heading: 78.054883 deg,
      new cmd heading: 78.055814 deg.

2025-10-27T15:03:21.898Z,1761577401.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362331 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:22.036Z,1761577402.036 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:22.036Z,1761577402.036 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:22.036Z,1761577402.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:22.246Z,1761577402.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217880,-0.959721,-0.177379],[0.970169,0.232772,-0.067740],[0.106301,-0.157329,0.981808]]
2025-10-27T15:03:22.270Z,1761577402.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:22.273Z,1761577402.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 420.799133 m,
      bearing: 77.340560 deg,
      approach rate: -0.698404 m/s,
      LOS rate: 0.000712 deg/s,
      cmd heading: 78.055812 deg,
      new cmd heading: 78.056615 deg.

2025-10-27T15:03:22.274Z,1761577402.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362345 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:22.288Z,1761577402.288 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:22.288Z,1761577402.288 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:22.288Z,1761577402.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:22.542Z,1761577402.542 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:22.542Z,1761577402.542 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:22.543Z,1761577402.543 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:22.650Z,1761577402.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218000,-0.959761,-0.177016],[0.970305,0.232623,-0.066300],[0.104810,-0.157306,0.981972]]
2025-10-27T15:03:22.726Z,1761577402.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:22.752Z,1761577402.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 420.477905 m,
      bearing: 77.340034 deg,
      approach rate: -0.705534 m/s,
      LOS rate: -0.001157 deg/s,
      cmd heading: 78.056618 deg,
      new cmd heading: 78.055037 deg.

2025-10-27T15:03:22.753Z,1761577402.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362317 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:22.792Z,1761577402.792 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:22.792Z,1761577402.792 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:22.792Z,1761577402.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:23.044Z,1761577403.044 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:23.044Z,1761577403.044 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:23.044Z,1761577403.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:23.096Z,1761577403.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218024,-0.959872,-0.176381],[0.970466,0.232352,-0.064877],[0.103256,-0.157027,0.982182]]
2025-10-27T15:03:23.127Z,1761577403.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:23.133Z,1761577403.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 420.199432 m,
      bearing: 77.339577 deg,
      approach rate: -0.694628 m/s,
      LOS rate: -0.001141 deg/s,
      cmd heading: 78.055040 deg,
      new cmd heading: 78.053668 deg.

2025-10-27T15:03:23.140Z,1761577403.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362293 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:23.296Z,1761577403.296 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:23.296Z,1761577403.296 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:23.296Z,1761577403.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:23.508Z,1761577403.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217604,-0.960152,-0.175379],[0.970722,0.231624,-0.063640],[0.101726,-0.156395,0.982442]]
2025-10-27T15:03:23.554Z,1761577403.554 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:23.554Z,1761577403.554 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:23.554Z,1761577403.554 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:23.644Z,1761577403.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:23.651Z,1761577403.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 419.825897 m,
      bearing: 77.338671 deg,
      approach rate: -0.720696 m/s,
      LOS rate: -0.001750 deg/s,
      cmd heading: 78.053667 deg,
      new cmd heading: 78.050946 deg.

2025-10-27T15:03:23.652Z,1761577403.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362246 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:23.804Z,1761577403.804 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:23.804Z,1761577403.804 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:23.804Z,1761577403.804 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:23.982Z,1761577403.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215389,-0.961758,-0.169201],[0.971511,0.228583,-0.062581],[0.098865,-0.150902,0.983593]]
2025-10-27T15:03:23.999Z,1761577403.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:24.001Z,1761577404.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:24.004Z,1761577404.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 419.565155 m,
      bearing: 77.337956 deg,
      approach rate: -0.731103 m/s,
      LOS rate: -0.002005 deg/s,
      cmd heading: 78.050949 deg,
      new cmd heading: 78.048803 deg.

2025-10-27T15:03:24.005Z,1761577404.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362209 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:24.057Z,1761577404.057 [DAT](INFO): DAT read: Rx Time:15:03:22.6603

2025-10-27T15:03:24.058Z,1761577404.058 [DAT](INFO): Rx dataTimestamp_ set to:1761577404.057001
2025-10-27T15:03:24.058Z,1761577404.058 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:24.058Z,1761577404.058 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:24.058Z,1761577404.058 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:24.308Z,1761577404.308 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:24.308Z,1761577404.308 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:24.308Z,1761577404.308 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:03:24.416Z,1761577404.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.02 m.
2025-10-27T15:03:24.467Z,1761577404.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.021790 m,
      nav range: 419.267639 m,
      bearing: 77.337139 deg,
      approach rate: -0.716664 m/s,
      LOS rate: -0.001968 deg/s,
      cmd heading: 78.048804 deg,
      new cmd heading: 78.046353 deg.

2025-10-27T15:03:24.468Z,1761577404.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362166 target range: 434.021790 and range: 436.10 m.
2025-10-27T15:03:24.578Z,1761577404.578 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:24.837Z,1761577404.837 [DAT](INFO): DAT read: 15:03:22.6603 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 476, 0.10, 0.586,-0.844, 0.760, 0.198, PHS= 0.490,-0.997, 0.518, RAW= 150.9,  -0.2, CAL= 149.8,  -0.8, ROT=   0.2,   0.8

2025-10-27T15:03:24.838Z,1761577404.838 [DAT](INFO): got valid direction response:
 15:03:22.6603 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 476, 0.10, 0.586,-0.844, 0.760, 0.198, PHS= 0.490,-0.997, 0.518, RAW= 150.9,  -0.2, CAL= 149.8,  -0.8, ROT=   0.2,   0.8

2025-10-27T15:03:24.843Z,1761577404.843 [DAT](INFO): DAT read: Bearing 216.1,   5.9 (Local)

2025-10-27T15:03:24.844Z,1761577404.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.1,   5.9 (Local)

2025-10-27T15:03:24.845Z,1761577404.845 [DAT](INFO): DAT read: Range 11 to 50 : 436.5 m  (Round-trip  582.0 ms) speed  0.6 m/s

2025-10-27T15:03:24.845Z,1761577404.845 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-27T15:03:24.846Z,1761577404.846 [DAT](INFO): direction in FSK: [0.999896,0.003490,-0.013962]
2025-10-27T15:03:24.851Z,1761577404.851 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:24.854Z,1761577404.854 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:03:24.854Z,1761577404.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:24.878Z,1761577404.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213421,-0.962947,-0.164878],[0.972197,0.225978,-0.061368],[0.096353,-0.147197,0.984403]]
2025-10-27T15:03:24.991Z,1761577404.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 436.500000 m,
      deltaT: 14.915922 s,
      deltaX: 0.399994 m,
      approachRate: 0.026817 m/s,
      rangeRepo size: 4

2025-10-27T15:03:24.993Z,1761577404.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 434.422760 m,
      bearing: 77.698338 deg,
      lat: 36.778951 deg,
      lon: -121.859334 deg,
      deltaT: 14.915922 s,
      deltaX: 0.400970 m,
      approachRate: 0.026882 m/s,
      posRepo size: 4

2025-10-27T15:03:24.994Z,1761577404.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:24.998Z,1761577404.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 428.825897 m,
      bearing: 77.576546 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001968 deg/s,
      cmd heading: 78.046352 deg,
      new cmd heading: 78.043009 deg.

2025-10-27T15:03:25.008Z,1761577405.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362108 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:25.080Z,1761577405.080 [DAT](INFO): DAT read: user:883>

2025-10-27T15:03:25.081Z,1761577405.081 [DAT](INFO): DAT read: Tx time:15:03:24.1242

2025-10-27T15:03:25.081Z,1761577405.081 [DAT](INFO): Ping request sent.
2025-10-27T15:03:25.081Z,1761577405.081 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:25.081Z,1761577405.081 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:25.082Z,1761577405.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-27T15:03:25.299Z,1761577405.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212964,-0.963103,-0.164558],[0.972421,0.225318,-0.060248],[0.095103,-0.147189,0.984526]]
2025-10-27T15:03:25.317Z,1761577405.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:25.332Z,1761577405.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251082
2025-10-27T15:03:25.340Z,1761577405.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 428.566406 m,
      bearing: 77.576281 deg,
      approach rate: -0.774420 m/s,
      LOS rate: -0.000790 deg/s,
      cmd heading: 78.043012 deg,
      new cmd heading: 78.042217 deg.

2025-10-27T15:03:25.344Z,1761577405.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362094 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:25.587Z,1761577405.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505134
2025-10-27T15:03:25.733Z,1761577405.733 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050318514453,35.0, +0.0,1495.1,  0
2025-10-27T15:03:25.756Z,1761577405.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:25.759Z,1761577405.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 428.249878 m,
      bearing: 77.575958 deg,
      approach rate: -0.721393 m/s,
      LOS rate: -0.000737 deg/s,
      cmd heading: 78.042220 deg,
      new cmd heading: 78.041249 deg.

2025-10-27T15:03:25.760Z,1761577405.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362077 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:25.837Z,1761577405.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755642
2025-10-27T15:03:26.088Z,1761577406.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006677
2025-10-27T15:03:26.115Z,1761577406.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211173,-0.963428,-0.164962],[0.973011,0.223262,-0.058338],[0.093035,-0.148190,0.984573]]
2025-10-27T15:03:26.140Z,1761577406.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:26.142Z,1761577406.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:26.145Z,1761577406.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 427.966736 m,
      bearing: 77.575597 deg,
      approach rate: -0.734143 m/s,
      LOS rate: -0.000937 deg/s,
      cmd heading: 78.041250 deg,
      new cmd heading: 78.040165 deg.

2025-10-27T15:03:26.146Z,1761577406.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362058 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:26.340Z,1761577406.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258872
2025-10-27T15:03:26.507Z,1761577406.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210696,-0.963332,-0.166130],[0.973215,0.222700,-0.057072],[0.091976,-0.149656,0.984451]]
2025-10-27T15:03:26.525Z,1761577406.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:26.528Z,1761577406.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 427.686646 m,
      bearing: 77.575220 deg,
      approach rate: -0.730370 m/s,
      LOS rate: -0.000984 deg/s,
      cmd heading: 78.040164 deg,
      new cmd heading: 78.039031 deg.

2025-10-27T15:03:26.529Z,1761577406.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362038 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:26.594Z,1761577406.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512961
2025-10-27T15:03:26.844Z,1761577406.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762979
2025-10-27T15:03:26.910Z,1761577406.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210397,-0.963233,-0.167080],[0.973373,0.222307,-0.055897],[0.090985,-0.150870,0.984358]]
2025-10-27T15:03:26.960Z,1761577406.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:26.962Z,1761577406.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 427.376373 m,
      bearing: 77.574862 deg,
      approach rate: -0.716103 m/s,
      LOS rate: -0.000825 deg/s,
      cmd heading: 78.039030 deg,
      new cmd heading: 78.037957 deg.

2025-10-27T15:03:26.963Z,1761577406.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362019 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:27.100Z,1761577407.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018914
2025-10-27T15:03:27.315Z,1761577407.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210400,-0.963314,-0.166610],[0.973480,0.222103,-0.054829],[0.089822,-0.150656,0.984497]]
2025-10-27T15:03:27.334Z,1761577407.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:27.336Z,1761577407.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 427.107727 m,
      bearing: 77.574552 deg,
      approach rate: -0.716638 m/s,
      LOS rate: -0.000829 deg/s,
      cmd heading: 78.037958 deg,
      new cmd heading: 78.037026 deg.

2025-10-27T15:03:27.337Z,1761577407.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362003 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:27.352Z,1761577407.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270839
2025-10-27T15:03:27.606Z,1761577407.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524898
2025-10-27T15:03:27.718Z,1761577407.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210494,-0.963303,-0.166551],[0.973588,0.221976,-0.053414],[0.088425,-0.150909,0.984585]]
2025-10-27T15:03:27.774Z,1761577407.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:27.777Z,1761577407.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 426.791290 m,
      bearing: 77.575344 deg,
      approach rate: -0.718417 m/s,
      LOS rate: 0.001800 deg/s,
      cmd heading: 78.037029 deg,
      new cmd heading: 78.039407 deg.

2025-10-27T15:03:27.778Z,1761577407.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362045 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:27.856Z,1761577407.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774703
2025-10-27T15:03:28.108Z,1761577408.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026715
2025-10-27T15:03:28.144Z,1761577408.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210499,-0.963345,-0.166300],[0.973691,0.221789,-0.052304],[0.087270,-0.150915,0.984687]]
2025-10-27T15:03:28.186Z,1761577408.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:28.193Z,1761577408.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:28.200Z,1761577408.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 426.509247 m,
      bearing: 77.576051 deg,
      approach rate: -0.673717 m/s,
      LOS rate: 0.001689 deg/s,
      cmd heading: 78.039406 deg,
      new cmd heading: 78.041526 deg.

2025-10-27T15:03:28.201Z,1761577408.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362082 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:28.360Z,1761577408.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278734
2025-10-27T15:03:28.536Z,1761577408.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210771,-0.963377,-0.165773],[0.973732,0.221855,-0.051248],[0.086149,-0.150617,0.984831]]
2025-10-27T15:03:28.558Z,1761577408.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:28.561Z,1761577408.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 426.227661 m,
      bearing: 77.576767 deg,
      approach rate: -0.770684 m/s,
      LOS rate: 0.001961 deg/s,
      cmd heading: 78.041523 deg,
      new cmd heading: 78.043672 deg.

2025-10-27T15:03:28.562Z,1761577408.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362119 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:28.615Z,1761577408.615 [DAT](INFO): DAT read: Rx Time:15:03:27.1055

2025-10-27T15:03:28.617Z,1761577408.617 [DAT](INFO): Rx dataTimestamp_ set to:1761577408.615762
2025-10-27T15:03:28.619Z,1761577408.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537239
2025-10-27T15:03:28.864Z,1761577408.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782671
2025-10-27T15:03:28.938Z,1761577408.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211131,-0.963106,-0.166883],[0.973761,0.222078,-0.049697],[0.084925,-0.152012,0.984723]]
2025-10-27T15:03:29.033Z,1761577409.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.42 m.
2025-10-27T15:03:29.036Z,1761577409.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.422760 m,
      nav range: 425.895538 m,
      bearing: 77.577970 deg,
      approach rate: -0.699701 m/s,
      LOS rate: 0.002537 deg/s,
      cmd heading: 78.043674 deg,
      new cmd heading: 78.047286 deg.

2025-10-27T15:03:29.037Z,1761577409.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362182 target range: 434.422760 and range: 436.50 m.
2025-10-27T15:03:29.122Z,1761577409.122 [DAT](INFO): DAT read: 15:03:27.1055 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 245, 0.23,-1.767, 3.055,-1.439,-1.850, PHS= 0.185,-1.333, 0.367, RAW= 155.6,   9.7, CAL= 155.4,  10.4, ROT= 354.6, -10.4

2025-10-27T15:03:29.124Z,1761577409.124 [DAT](INFO): got valid direction response:
 15:03:27.1055 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 245, 0.23,-1.767, 3.055,-1.439,-1.850, PHS= 0.185,-1.333, 0.367, RAW= 155.6,   9.7, CAL= 155.4,  10.4, ROT= 354.6, -10.4

2025-10-27T15:03:29.125Z,1761577409.125 [DAT](INFO): DAT read: Bearing 226.7,  -1.8 (Local)

2025-10-27T15:03:29.125Z,1761577409.125 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.7,  -1.8 (Local)

2025-10-27T15:03:29.127Z,1761577409.127 [DAT](INFO): DAT read: Range 11 to 50 : 432.9 m  (Round-trip  577.2 ms) speed  1.1 m/s

2025-10-27T15:03:29.127Z,1761577409.127 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:29.128Z,1761577409.128 [DAT](INFO): direction in FSK: [0.979206,-0.092562,0.180519]
2025-10-27T15:03:29.129Z,1761577409.129 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:29.132Z,1761577409.132 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:29.132Z,1761577409.132 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:29.132Z,1761577409.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:29.342Z,1761577409.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211702,-0.962712,-0.168427],[0.973745,0.222525,-0.047997],[0.083687,-0.153843,0.984545]]
2025-10-27T15:03:29.368Z,1761577409.368 [DAT](INFO): DAT read: user:884>

2025-10-27T15:03:29.369Z,1761577409.369 [DAT](INFO): DAT read: Tx time:15:03:28.4242

2025-10-27T15:03:29.369Z,1761577409.369 [DAT](INFO): Ping request sent.
2025-10-27T15:03:29.369Z,1761577409.369 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:29.369Z,1761577409.369 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:29.370Z,1761577409.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-27T15:03:29.406Z,1761577409.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 432.899994 m,
      deltaT: 4.289097 s,
      deltaX: -3.600006 m,
      approachRate: -0.839339 m/s,
      rangeRepo size: 4

2025-10-27T15:03:29.412Z,1761577409.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 430.845062 m,
      bearing: 73.943505 deg,
      lat: 36.778951 deg,
      lon: -121.859530 deg,
      deltaT: 4.289097 s,
      deltaX: -3.577698 m,
      approachRate: -0.834138 m/s,
      posRepo size: 4

2025-10-27T15:03:29.413Z,1761577409.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.85 m.
2025-10-27T15:03:29.428Z,1761577409.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.845062 m,
      nav range: 408.587311 m,
      bearing: 77.051585 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002537 deg/s,
      cmd heading: 78.047288 deg,
      new cmd heading: 78.050124 deg.

2025-10-27T15:03:29.429Z,1761577409.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362232 target range: 430.845062 and range: 432.90 m.
2025-10-27T15:03:29.623Z,1761577409.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253096
2025-10-27T15:03:29.762Z,1761577409.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212214,-0.962659,-0.168088],[0.973734,0.222827,-0.046796],[0.082503,-0.153743,0.984661]]
2025-10-27T15:03:29.816Z,1761577409.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.85 m.
2025-10-27T15:03:29.818Z,1761577409.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.845062 m,
      nav range: 408.290527 m,
      bearing: 77.052416 deg,
      approach rate: -0.723276 m/s,
      LOS rate: 0.002027 deg/s,
      cmd heading: 78.050122 deg,
      new cmd heading: 78.052617 deg.

2025-10-27T15:03:29.824Z,1761577409.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362275 target range: 430.845062 and range: 432.90 m.
2025-10-27T15:03:29.873Z,1761577409.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503635
2025-10-27T15:03:30.124Z,1761577410.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759
2025-10-27T15:03:30.145Z,1761577410.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211742,-0.962931,-0.167123],[0.973903,0.222190,-0.046300],[0.081717,-0.152958,0.984848]]
2025-10-27T15:03:30.196Z,1761577410.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:30.198Z,1761577410.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.85 m.
2025-10-27T15:03:30.209Z,1761577410.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.845062 m,
      nav range: 408.003326 m,
      bearing: 77.053202 deg,
      approach rate: -0.751565 m/s,
      LOS rate: 0.002059 deg/s,
      cmd heading: 78.052615 deg,
      new cmd heading: 78.054975 deg.

2025-10-27T15:03:30.210Z,1761577410.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362316 target range: 430.845062 and range: 432.90 m.
2025-10-27T15:03:30.376Z,1761577410.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006699
2025-10-27T15:03:30.589Z,1761577410.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211457,-0.963009,-0.167030],[0.974036,0.221772,-0.045508],[0.080867,-0.153071,0.984901]]
2025-10-27T15:03:30.607Z,1761577410.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.85 m.
2025-10-27T15:03:30.618Z,1761577410.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.845062 m,
      nav range: 407.707947 m,
      bearing: 77.053999 deg,
      approach rate: -0.722700 m/s,
      LOS rate: 0.001951 deg/s,
      cmd heading: 78.054978 deg,
      new cmd heading: 78.057370 deg.

2025-10-27T15:03:30.619Z,1761577410.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362358 target range: 430.845062 and range: 432.90 m.
2025-10-27T15:03:30.639Z,1761577410.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.269033
2025-10-27T15:03:30.888Z,1761577410.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518776
2025-10-27T15:03:30.954Z,1761577410.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211331,-0.963168,-0.166271],[0.974145,0.221457,-0.044711],[0.079886,-0.152524,0.985066]]
2025-10-27T15:03:31.002Z,1761577411.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.85 m.
2025-10-27T15:03:31.005Z,1761577411.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.845062 m,
      nav range: 407.420593 m,
      bearing: 77.053958 deg,
      approach rate: -0.726420 m/s,
      LOS rate: -0.000103 deg/s,
      cmd heading: 78.057369 deg,
      new cmd heading: 78.057247 deg.

2025-10-27T15:03:31.006Z,1761577411.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362356 target range: 430.845062 and range: 432.90 m.
2025-10-27T15:03:31.144Z,1761577411.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775280
2025-10-27T15:03:31.358Z,1761577411.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210911,-0.963432,-0.165275],[0.974295,0.220884,-0.044274],[0.079161,-0.151689,0.985253]]
2025-10-27T15:03:31.383Z,1761577411.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.85 m.
2025-10-27T15:03:31.386Z,1761577411.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.845062 m,
      nav range: 407.143799 m,
      bearing: 77.053902 deg,
      approach rate: -0.726979 m/s,
      LOS rate: -0.000146 deg/s,
      cmd heading: 78.057246 deg,
      new cmd heading: 78.057080 deg.

2025-10-27T15:03:31.387Z,1761577411.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362353 target range: 430.845062 and range: 432.90 m.
2025-10-27T15:03:31.392Z,1761577411.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023304
2025-10-27T15:03:31.647Z,1761577411.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276847
2025-10-27T15:03:31.764Z,1761577411.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210600,-0.963452,-0.165556],[0.974438,0.220443,-0.043304],[0.078216,-0.152204,0.985249]]
2025-10-27T15:03:31.813Z,1761577411.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.85 m.
2025-10-27T15:03:31.816Z,1761577411.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.845062 m,
      nav range: 406.819122 m,
      bearing: 77.053460 deg,
      approach rate: -0.755408 m/s,
      LOS rate: -0.001029 deg/s,
      cmd heading: 78.057082 deg,
      new cmd heading: 78.055755 deg.

2025-10-27T15:03:31.816Z,1761577411.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362330 target range: 430.845062 and range: 432.90 m.
2025-10-27T15:03:31.897Z,1761577411.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527486
2025-10-27T15:03:32.148Z,1761577412.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778638
2025-10-27T15:03:32.191Z,1761577412.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210020,-0.963346,-0.166902],[0.974653,0.219752,-0.041949],[0.077088,-0.153861,0.985081]]
2025-10-27T15:03:32.216Z,1761577412.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:32.218Z,1761577412.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.85 m.
2025-10-27T15:03:32.221Z,1761577412.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.845062 m,
      nav range: 406.510406 m,
      bearing: 77.053010 deg,
      approach rate: -0.761746 m/s,
      LOS rate: -0.001111 deg/s,
      cmd heading: 78.055757 deg,
      new cmd heading: 78.054406 deg.

2025-10-27T15:03:32.222Z,1761577412.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362306 target range: 430.845062 and range: 432.90 m.
2025-10-27T15:03:32.403Z,1761577412.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033634
2025-10-27T15:03:32.574Z,1761577412.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209348,-0.963409,-0.167383],[0.974867,0.218970,-0.041053],[0.076203,-0.154582,0.985037]]
2025-10-27T15:03:32.602Z,1761577412.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.85 m.
2025-10-27T15:03:32.605Z,1761577412.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.845062 m,
      nav range: 406.219269 m,
      bearing: 77.052556 deg,
      approach rate: -0.758594 m/s,
      LOS rate: -0.001186 deg/s,
      cmd heading: 78.054405 deg,
      new cmd heading: 78.053039 deg.

2025-10-27T15:03:32.606Z,1761577412.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362283 target range: 430.845062 and range: 432.90 m.
2025-10-27T15:03:32.657Z,1761577412.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286798
2025-10-27T15:03:32.904Z,1761577412.904 [DAT](INFO): DAT read: Rx Time:15:03:31.4008

2025-10-27T15:03:32.904Z,1761577412.904 [DAT](INFO): Rx dataTimestamp_ set to:1761577412.904104
2025-10-27T15:03:32.905Z,1761577412.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535769
2025-10-27T15:03:32.976Z,1761577412.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208715,-0.963620,-0.166954],[0.975085,0.218160,-0.040183],[0.075144,-0.154408,0.985145]]
2025-10-27T15:03:33.121Z,1761577413.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.85 m.
2025-10-27T15:03:33.147Z,1761577413.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.845062 m,
      nav range: 405.824615 m,
      bearing: 77.051017 deg,
      approach rate: -0.759486 m/s,
      LOS rate: -0.002965 deg/s,
      cmd heading: 78.053039 deg,
      new cmd heading: 78.048417 deg.

2025-10-27T15:03:33.153Z,1761577413.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362202 target range: 430.845062 and range: 432.90 m.
2025-10-27T15:03:33.157Z,1761577413.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788109
2025-10-27T15:03:33.413Z,1761577413.413 [DAT](INFO): DAT read: 15:03:31.4008 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 386, 0.40,-3.001, 1.699,-2.795, 2.770, PHS= 0.615,-1.025, 0.675, RAW= 151.8,  -3.2, CAL= 151.2,  -4.3, ROT= 358.8,   4.3

2025-10-27T15:03:33.414Z,1761577413.414 [DAT](INFO): got valid direction response:
 15:03:31.4008 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 386, 0.40,-3.001, 1.699,-2.795, 2.770, PHS= 0.615,-1.025, 0.675, RAW= 151.8,  -3.2, CAL= 151.2,  -4.3, ROT= 358.8,   4.3

2025-10-27T15:03:33.415Z,1761577413.415 [DAT](INFO): DAT read: Bearing 212.6,   3.8 (Local)

2025-10-27T15:03:33.416Z,1761577413.416 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.6,   3.8 (Local)

2025-10-27T15:03:33.417Z,1761577413.417 [DAT](INFO): DAT read: Range 11 to 50 : 429.3 m  (Round-trip  572.5 ms) speed  0.5 m/s

2025-10-27T15:03:33.418Z,1761577413.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:33.419Z,1761577413.419 [DAT](INFO): direction in FSK: [0.996966,-0.020883,-0.074979]
2025-10-27T15:03:33.420Z,1761577413.420 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:33.428Z,1761577413.428 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:33.428Z,1761577413.428 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:33.428Z,1761577413.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:33.525Z,1761577413.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207889,-0.963819,-0.166839],[0.975338,0.217183,-0.039338],[0.074149,-0.154547,0.985199]]
2025-10-27T15:03:33.587Z,1761577413.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 429.299988 m,
      deltaT: 4.291095 s,
      deltaX: -3.600006 m,
      approachRate: -0.838948 m/s,
      rangeRepo size: 4

2025-10-27T15:03:33.589Z,1761577413.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 427.261597 m,
      bearing: 76.119559 deg,
      lat: 36.778951 deg,
      lon: -121.859530 deg,
      deltaT: 4.291095 s,
      deltaX: -3.583466 m,
      approachRate: -0.835093 m/s,
      posRepo size: 4

2025-10-27T15:03:33.590Z,1761577413.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:33.597Z,1761577413.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 405.492035 m,
      bearing: 77.049677 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002965 deg/s,
      cmd heading: 78.048415 deg,
      new cmd heading: 78.044317 deg.

2025-10-27T15:03:33.598Z,1761577413.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362130 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:33.665Z,1761577413.665 [DAT](INFO): DAT read: user:885>

2025-10-27T15:03:33.668Z,1761577413.668 [DAT](INFO): DAT read: Tx time:15:03:32.6742

2025-10-27T15:03:33.669Z,1761577413.669 [DAT](INFO): Ping request sent.
2025-10-27T15:03:33.670Z,1761577413.670 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:33.671Z,1761577413.671 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:33.674Z,1761577413.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003722
2025-10-27T15:03:33.913Z,1761577413.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243198
2025-10-27T15:03:33.980Z,1761577413.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206142,-0.964664,-0.164099],[0.975860,0.215032,-0.038197],[0.072134,-0.152264,0.985704]]
2025-10-27T15:03:34.025Z,1761577414.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:34.028Z,1761577414.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 405.138428 m,
      bearing: 77.047942 deg,
      approach rate: -0.798391 m/s,
      LOS rate: -0.003920 deg/s,
      cmd heading: 78.044316 deg,
      new cmd heading: 78.039107 deg.

2025-10-27T15:03:34.029Z,1761577414.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362039 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:34.165Z,1761577414.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495819
2025-10-27T15:03:34.382Z,1761577414.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204941,-0.964974,-0.163784],[0.976170,0.213713,-0.037673],[0.071357,-0.152160,0.985777]]
2025-10-27T15:03:34.400Z,1761577414.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:34.402Z,1761577414.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:34.405Z,1761577414.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 404.853668 m,
      bearing: 77.046492 deg,
      approach rate: -0.755364 m/s,
      LOS rate: -0.003848 deg/s,
      cmd heading: 78.039105 deg,
      new cmd heading: 78.034754 deg.

2025-10-27T15:03:34.406Z,1761577414.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361963 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:34.416Z,1761577414.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746592
2025-10-27T15:03:34.671Z,1761577414.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001096
2025-10-27T15:03:34.836Z,1761577414.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:34.839Z,1761577414.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 404.529907 m,
      bearing: 77.044732 deg,
      approach rate: -0.745938 m/s,
      LOS rate: -0.004059 deg/s,
      cmd heading: 78.034754 deg,
      new cmd heading: 78.029469 deg.

2025-10-27T15:03:34.840Z,1761577414.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361871 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:34.920Z,1761577414.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250613
2025-10-27T15:03:35.173Z,1761577415.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503945
2025-10-27T15:03:35.202Z,1761577415.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203324,-0.965249,-0.164178],[0.976627,0.211875,-0.036186],[0.069714,-0.152983,0.985767]]
2025-10-27T15:03:35.220Z,1761577415.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:35.223Z,1761577415.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 404.243408 m,
      bearing: 77.043104 deg,
      approach rate: -0.745239 m/s,
      LOS rate: -0.004238 deg/s,
      cmd heading: 78.029468 deg,
      new cmd heading: 78.024580 deg.

2025-10-27T15:03:35.224Z,1761577415.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361786 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:35.425Z,1761577415.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755103
2025-10-27T15:03:35.640Z,1761577415.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:35.644Z,1761577415.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 403.930634 m,
      bearing: 77.041324 deg,
      approach rate: -0.745207 m/s,
      LOS rate: -0.004244 deg/s,
      cmd heading: 78.024577 deg,
      new cmd heading: 78.019233 deg.

2025-10-27T15:03:35.646Z,1761577415.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361693 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:35.677Z,1761577415.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007578
2025-10-27T15:03:35.928Z,1761577415.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258523
2025-10-27T15:03:36.004Z,1761577416.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202767,-0.964728,-0.167888],[0.976832,0.211261,-0.034188],[0.068450,-0.157066,0.985213]]
2025-10-27T15:03:36.041Z,1761577416.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:36.044Z,1761577416.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 403.642883 m,
      bearing: 77.040118 deg,
      approach rate: -0.717197 m/s,
      LOS rate: -0.003010 deg/s,
      cmd heading: 78.019236 deg,
      new cmd heading: 78.015613 deg.

2025-10-27T15:03:36.045Z,1761577416.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361629 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:36.180Z,1761577416.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510514
2025-10-27T15:03:36.402Z,1761577416.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202552,-0.964786,-0.167810],[0.976940,0.210900,-0.033321],[0.067538,-0.157191,0.985256]]
2025-10-27T15:03:36.419Z,1761577416.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:36.421Z,1761577416.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:36.432Z,1761577416.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762363
2025-10-27T15:03:36.440Z,1761577416.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 403.369781 m,
      bearing: 77.038962 deg,
      approach rate: -0.719149 m/s,
      LOS rate: -0.003046 deg/s,
      cmd heading: 78.015616 deg,
      new cmd heading: 78.012146 deg.

2025-10-27T15:03:36.441Z,1761577416.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361569 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:36.688Z,1761577416.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018917
2025-10-27T15:03:36.863Z,1761577416.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:36.866Z,1761577416.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 403.061951 m,
      bearing: 77.037903 deg,
      approach rate: -0.696319 m/s,
      LOS rate: -0.002395 deg/s,
      cmd heading: 78.012146 deg,
      new cmd heading: 78.008970 deg.

2025-10-27T15:03:36.868Z,1761577416.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361513 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:36.942Z,1761577416.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272669
2025-10-27T15:03:37.200Z,1761577417.200 [DAT](INFO): DAT read: Rx Time:15:03:35.6479

2025-10-27T15:03:37.200Z,1761577417.200 [DAT](INFO): Rx dataTimestamp_ set to:1761577417.200163
2025-10-27T15:03:37.201Z,1761577417.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531571
2025-10-27T15:03:37.257Z,1761577417.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:37.260Z,1761577417.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 402.787750 m,
      bearing: 77.036960 deg,
      approach rate: -0.695919 m/s,
      LOS rate: -0.002397 deg/s,
      cmd heading: 78.008970 deg,
      new cmd heading: 78.006137 deg.

2025-10-27T15:03:37.261Z,1761577417.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361464 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:37.452Z,1761577417.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782433
2025-10-27T15:03:37.666Z,1761577417.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.26 m.
2025-10-27T15:03:37.672Z,1761577417.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.261597 m,
      nav range: 402.509460 m,
      bearing: 77.036000 deg,
      approach rate: -0.681088 m/s,
      LOS rate: -0.002349 deg/s,
      cmd heading: 78.006136 deg,
      new cmd heading: 78.003256 deg.

2025-10-27T15:03:37.673Z,1761577417.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361414 target range: 427.261597 and range: 429.30 m.
2025-10-27T15:03:37.709Z,1761577417.709 [DAT](INFO): DAT read: 15:03:35.6479 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 405, 0.12,-0.518,-1.922,-0.300,-0.985, PHS= 0.569,-0.892, 0.640, RAW= 152.4,  -4.3, CAL= 152.0,  -5.5, ROT= 358.0,   5.5

2025-10-27T15:03:37.710Z,1761577417.710 [DAT](INFO): got valid direction response:
 15:03:35.6479 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 405, 0.12,-0.518,-1.922,-0.300,-0.985, PHS= 0.569,-0.892, 0.640, RAW= 152.4,  -4.3, CAL= 152.0,  -5.5, ROT= 358.0,   5.5

2025-10-27T15:03:37.712Z,1761577417.712 [DAT](INFO): DAT read: Bearing 211.0,   2.5 (Local)

2025-10-27T15:03:37.712Z,1761577417.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.0,   2.5 (Local)

2025-10-27T15:03:37.716Z,1761577417.716 [DAT](INFO): DAT read: Range 11 to 50 : 427.2 m  (Round-trip  569.6 ms) speed  0.4 m/s

2025-10-27T15:03:37.718Z,1761577417.718 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:37.739Z,1761577417.739 [DAT](INFO): direction in FSK: [0.994790,-0.034739,-0.095846]
2025-10-27T15:03:37.740Z,1761577417.740 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:37.781Z,1761577417.781 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:37.781Z,1761577417.781 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:37.781Z,1761577417.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:37.956Z,1761577417.956 [DAT](INFO): DAT read: user:886>

2025-10-27T15:03:37.957Z,1761577417.957 [DAT](INFO): DAT read: Tx time:15:03:37.0242

2025-10-27T15:03:37.957Z,1761577417.957 [DAT](INFO): Ping request sent.
2025-10-27T15:03:37.957Z,1761577417.957 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:37.957Z,1761577417.957 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:37.958Z,1761577417.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-27T15:03:38.023Z,1761577418.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204143,-0.964865,-0.165412],[0.976782,0.211979,-0.031006],[0.064981,-0.155241,0.985737]]
2025-10-27T15:03:38.079Z,1761577418.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 427.200012 m,
      deltaT: 4.296114 s,
      deltaX: -2.099976 m,
      approachRate: -0.488808 m/s,
      rangeRepo size: 4

2025-10-27T15:03:38.081Z,1761577418.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 425.172333 m,
      bearing: 75.372919 deg,
      lat: 36.779056 deg,
      lon: -121.859314 deg,
      deltaT: 4.296114 s,
      deltaX: -2.089264 m,
      approachRate: -0.486315 m/s,
      posRepo size: 4

2025-10-27T15:03:38.082Z,1761577418.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.17 m.
2025-10-27T15:03:38.085Z,1761577418.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.172333 m,
      nav range: 423.693787 m,
      bearing: 76.087675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002349 deg/s,
      cmd heading: 78.003253 deg,
      new cmd heading: 78.000346 deg.

2025-10-27T15:03:38.086Z,1761577418.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361363 target range: 425.172333 and range: 427.20 m.
2025-10-27T15:03:38.208Z,1761577418.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250807
2025-10-27T15:03:38.422Z,1761577418.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204727,-0.964577,-0.166367],[0.976712,0.212459,-0.029899],[0.064186,-0.156371,0.985611]]
2025-10-27T15:03:38.440Z,1761577418.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:38.442Z,1761577418.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.17 m.
2025-10-27T15:03:38.444Z,1761577418.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.172333 m,
      nav range: 423.445099 m,
      bearing: 76.086938 deg,
      approach rate: -0.684451 m/s,
      LOS rate: -0.002028 deg/s,
      cmd heading: 78.000344 deg,
      new cmd heading: 77.998133 deg.

2025-10-27T15:03:38.445Z,1761577418.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361324 target range: 425.172333 and range: 427.20 m.
2025-10-27T15:03:38.468Z,1761577418.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510760
2025-10-27T15:03:38.721Z,1761577418.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.763280
2025-10-27T15:03:38.876Z,1761577418.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.17 m.
2025-10-27T15:03:38.879Z,1761577418.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.172333 m,
      nav range: 423.150085 m,
      bearing: 76.086191 deg,
      approach rate: -0.679322 m/s,
      LOS rate: -0.001721 deg/s,
      cmd heading: 77.998131 deg,
      new cmd heading: 77.995888 deg.

2025-10-27T15:03:38.880Z,1761577418.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361285 target range: 425.172333 and range: 427.20 m.
2025-10-27T15:03:38.972Z,1761577418.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014753
2025-10-27T15:03:39.224Z,1761577419.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266766
2025-10-27T15:03:39.233Z,1761577419.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205757,-0.964367,-0.166315],[0.976638,0.213122,-0.027526],[0.061990,-0.156766,0.985688]]
2025-10-27T15:03:39.251Z,1761577419.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.17 m.
2025-10-27T15:03:39.253Z,1761577419.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.172333 m,
      nav range: 422.895752 m,
      bearing: 76.085582 deg,
      approach rate: -0.678758 m/s,
      LOS rate: -0.001628 deg/s,
      cmd heading: 77.995890 deg,
      new cmd heading: 77.994061 deg.

2025-10-27T15:03:39.254Z,1761577419.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361253 target range: 425.172333 and range: 427.20 m.
2025-10-27T15:03:39.476Z,1761577419.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518572
2025-10-27T15:03:39.633Z,1761577419.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206227,-0.964252,-0.166400],[0.976599,0.213434,-0.026461],[0.061031,-0.157049,0.985703]]
2025-10-27T15:03:39.684Z,1761577419.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.17 m.
2025-10-27T15:03:39.691Z,1761577419.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.172333 m,
      nav range: 422.612213 m,
      bearing: 76.084919 deg,
      approach rate: -0.654067 m/s,
      LOS rate: -0.001529 deg/s,
      cmd heading: 77.994060 deg,
      new cmd heading: 77.992071 deg.

2025-10-27T15:03:39.692Z,1761577419.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361218 target range: 425.172333 and range: 427.20 m.
2025-10-27T15:03:39.732Z,1761577419.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773894
2025-10-27T15:03:39.980Z,1761577419.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023028
2025-10-27T15:03:40.040Z,1761577420.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206839,-0.964317,-0.165256],[0.976527,0.213857,-0.025674],[0.060099,-0.156067,0.985916]]
2025-10-27T15:03:40.100Z,1761577420.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.17 m.
2025-10-27T15:03:40.102Z,1761577420.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.172333 m,
      nav range: 422.340210 m,
      bearing: 76.084621 deg,
      approach rate: -0.654532 m/s,
      LOS rate: -0.000717 deg/s,
      cmd heading: 77.992072 deg,
      new cmd heading: 77.991178 deg.

2025-10-27T15:03:40.104Z,1761577420.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361203 target range: 425.172333 and range: 427.20 m.
2025-10-27T15:03:40.232Z,1761577420.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274493
2025-10-27T15:03:40.444Z,1761577420.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207043,-0.964543,-0.163676],[0.976528,0.213904,-0.025270],[0.059385,-0.154602,0.986190]]
2025-10-27T15:03:40.460Z,1761577420.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:40.462Z,1761577420.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.17 m.
2025-10-27T15:03:40.465Z,1761577420.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.172333 m,
      nav range: 422.083038 m,
      bearing: 76.084347 deg,
      approach rate: -0.709948 m/s,
      LOS rate: -0.000757 deg/s,
      cmd heading: 77.991178 deg,
      new cmd heading: 77.990355 deg.

2025-10-27T15:03:40.466Z,1761577420.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361189 target range: 425.172333 and range: 427.20 m.
2025-10-27T15:03:40.485Z,1761577420.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527385
2025-10-27T15:03:40.736Z,1761577420.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778998
2025-10-27T15:03:40.854Z,1761577420.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207534,-0.964553,-0.162995],[0.976468,0.214256,-0.024605],[0.058656,-0.154053,0.986320]]
2025-10-27T15:03:40.890Z,1761577420.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.17 m.
2025-10-27T15:03:40.893Z,1761577420.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.172333 m,
      nav range: 421.792877 m,
      bearing: 76.084352 deg,
      approach rate: -0.677722 m/s,
      LOS rate: 0.000010 deg/s,
      cmd heading: 77.990358 deg,
      new cmd heading: 77.990371 deg.

2025-10-27T15:03:40.894Z,1761577420.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361189 target range: 425.172333 and range: 427.20 m.
2025-10-27T15:03:40.988Z,1761577420.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030710
2025-10-27T15:03:41.020Z,1761577421.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:03:41.240Z,1761577421.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282509
2025-10-27T15:03:41.252Z,1761577421.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208461,-0.964700,-0.160931],[0.976281,0.215089,-0.024733],[0.058474,-0.151958,0.986656]]
2025-10-27T15:03:41.270Z,1761577421.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.17 m.
2025-10-27T15:03:41.273Z,1761577421.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.172333 m,
      nav range: 421.535645 m,
      bearing: 76.084390 deg,
      approach rate: -0.677459 m/s,
      LOS rate: 0.000102 deg/s,
      cmd heading: 77.990372 deg,
      new cmd heading: 77.990488 deg.

2025-10-27T15:03:41.274Z,1761577421.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361191 target range: 425.172333 and range: 427.20 m.
2025-10-27T15:03:41.492Z,1761577421.492 [DAT](INFO): DAT read: Rx Time:15:03:39.9793

2025-10-27T15:03:41.492Z,1761577421.492 [DAT](INFO): Rx dataTimestamp_ set to:1761577421.492155
2025-10-27T15:03:41.493Z,1761577421.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535728
2025-10-27T15:03:41.665Z,1761577421.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209041,-0.964741,-0.159928],[0.976187,0.215560,-0.024365],[0.057981,-0.151027,0.986828]]
2025-10-27T15:03:41.699Z,1761577421.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.17 m.
2025-10-27T15:03:41.702Z,1761577421.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.172333 m,
      nav range: 421.255768 m,
      bearing: 76.084456 deg,
      approach rate: -0.652111 m/s,
      LOS rate: 0.000153 deg/s,
      cmd heading: 77.990488 deg,
      new cmd heading: 77.990684 deg.

2025-10-27T15:03:41.707Z,1761577421.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361194 target range: 425.172333 and range: 427.20 m.
2025-10-27T15:03:41.745Z,1761577421.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787437
2025-10-27T15:03:42.001Z,1761577422.001 [DAT](INFO): DAT read: 15:03:39.9793 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 247, 0.35,-1.473,-3.002,-1.179,-1.632, PHS= 0.260,-1.325, 0.409, RAW= 154.4,   7.9, CAL= 154.0,   8.4, ROT= 356.0,  -8.4

2025-10-27T15:03:42.002Z,1761577422.002 [DAT](INFO): got valid direction response:
 15:03:39.9793 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 247, 0.35,-1.473,-3.002,-1.179,-1.632, PHS= 0.260,-1.325, 0.409, RAW= 154.4,   7.9, CAL= 154.0,   8.4, ROT= 356.0,  -8.4

2025-10-27T15:03:42.004Z,1761577422.004 [DAT](INFO): DAT read: Bearing 223.5,  -1.6 (Local)

2025-10-27T15:03:42.004Z,1761577422.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.5,  -1.6 (Local)

2025-10-27T15:03:42.005Z,1761577422.005 [DAT](INFO): DAT read: Range 11 to 50 : 413.2 m  (Round-trip  551.0 ms) speed  0.6 m/s

2025-10-27T15:03:42.006Z,1761577422.006 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:42.012Z,1761577422.012 [DAT](INFO): direction in FSK: [0.986863,-0.069008,0.146083]
2025-10-27T15:03:42.012Z,1761577422.012 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:42.016Z,1761577422.016 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:42.016Z,1761577422.016 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:42.016Z,1761577422.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:42.023Z,1761577422.023 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:03:42.058Z,1761577422.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209311,-0.964643,-0.160167],[0.976155,0.215764,-0.023821],[0.057537,-0.151362,0.986802]]
2025-10-27T15:03:42.157Z,1761577422.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 413.200012 m,
      deltaT: 4.291795 s,
      deltaX: -14.000000 m,
      approachRate: -3.262038 m/s,
      rangeRepo size: 4

2025-10-27T15:03:42.168Z,1761577422.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 411.239471 m,
      bearing: 75.196482 deg,
      lat: 36.779069 deg,
      lon: -121.859314 deg,
      deltaT: 4.291795 s,
      deltaX: -13.932861 m,
      approachRate: -3.246395 m/s,
      posRepo size: 4

2025-10-27T15:03:42.169Z,1761577422.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.24 m.
2025-10-27T15:03:42.176Z,1761577422.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.239471 m,
      nav range: 421.300903 m,
      bearing: 75.889611 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000153 deg/s,
      cmd heading: 77.990686 deg,
      new cmd heading: 77.990893 deg.

2025-10-27T15:03:42.177Z,1761577422.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361198 target range: 411.239471 and range: 413.20 m.
2025-10-27T15:03:42.249Z,1761577422.249 [DAT](INFO): DAT read: user:887>

2025-10-27T15:03:42.250Z,1761577422.250 [DAT](INFO): DAT read: Tx time:15:03:41.2742

2025-10-27T15:03:42.251Z,1761577422.251 [DAT](INFO): Ping request sent.
2025-10-27T15:03:42.251Z,1761577422.251 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:42.251Z,1761577422.251 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:42.252Z,1761577422.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001280
2025-10-27T15:03:42.497Z,1761577422.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:42.500Z,1761577422.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249294
2025-10-27T15:03:42.501Z,1761577422.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.24 m.
2025-10-27T15:03:42.503Z,1761577422.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.239471 m,
      nav range: 421.035858 m,
      bearing: 75.889769 deg,
      approach rate: -0.761160 m/s,
      LOS rate: 0.000454 deg/s,
      cmd heading: 77.990891 deg,
      new cmd heading: 77.991364 deg.

2025-10-27T15:03:42.504Z,1761577422.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361206 target range: 411.239471 and range: 413.20 m.
2025-10-27T15:03:42.756Z,1761577422.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504919
2025-10-27T15:03:42.914Z,1761577422.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210268,-0.963844,-0.163682],[0.975917,0.216879,-0.023420],[0.058072,-0.154816,0.986235]]
2025-10-27T15:03:42.978Z,1761577422.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.24 m.
2025-10-27T15:03:42.985Z,1761577422.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.239471 m,
      nav range: 420.709778 m,
      bearing: 75.890066 deg,
      approach rate: -0.680917 m/s,
      LOS rate: 0.000621 deg/s,
      cmd heading: 77.991362 deg,
      new cmd heading: 77.992254 deg.

2025-10-27T15:03:42.986Z,1761577422.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361222 target range: 411.239471 and range: 413.20 m.
2025-10-27T15:03:43.004Z,1761577423.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753366
2025-10-27T15:03:43.256Z,1761577423.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005167
2025-10-27T15:03:43.317Z,1761577423.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210954,-0.963365,-0.165608],[0.975760,0.217629,-0.023040],[0.058237,-0.156733,0.985922]]
2025-10-27T15:03:43.336Z,1761577423.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.24 m.
2025-10-27T15:03:43.338Z,1761577423.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.239471 m,
      nav range: 420.441162 m,
      bearing: 75.890334 deg,
      approach rate: -0.750177 m/s,
      LOS rate: 0.000749 deg/s,
      cmd heading: 77.992257 deg,
      new cmd heading: 77.993062 deg.

2025-10-27T15:03:43.340Z,1761577423.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361236 target range: 411.239471 and range: 413.20 m.
2025-10-27T15:03:43.508Z,1761577423.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257190
2025-10-27T15:03:43.746Z,1761577423.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211114,-0.962775,-0.168806],[0.975736,0.217831,-0.022099],[0.058047,-0.160045,0.985402]]
2025-10-27T15:03:43.760Z,1761577423.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509353
2025-10-27T15:03:43.798Z,1761577423.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.24 m.
2025-10-27T15:03:43.870Z,1761577423.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.239471 m,
      nav range: 420.135498 m,
      bearing: 75.890641 deg,
      approach rate: -0.661128 m/s,
      LOS rate: 0.000664 deg/s,
      cmd heading: 77.993063 deg,
      new cmd heading: 77.993983 deg.

2025-10-27T15:03:43.876Z,1761577423.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361252 target range: 411.239471 and range: 413.20 m.
2025-10-27T15:03:44.012Z,1761577424.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761253
2025-10-27T15:03:44.154Z,1761577424.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211118,-0.962694,-0.169263],[0.975760,0.217777,-0.021578],[0.057634,-0.160605,0.985335]]
2025-10-27T15:03:44.218Z,1761577424.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.24 m.
2025-10-27T15:03:44.221Z,1761577424.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.239471 m,
      nav range: 419.821442 m,
      bearing: 75.890869 deg,
      approach rate: -0.754037 m/s,
      LOS rate: 0.000547 deg/s,
      cmd heading: 77.993985 deg,
      new cmd heading: 77.994669 deg.

2025-10-27T15:03:44.222Z,1761577424.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361264 target range: 411.239471 and range: 413.20 m.
2025-10-27T15:03:44.264Z,1761577424.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013250
2025-10-27T15:03:44.516Z,1761577424.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265686
2025-10-27T15:03:44.603Z,1761577424.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:44.605Z,1761577424.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.24 m.
2025-10-27T15:03:44.676Z,1761577424.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.239471 m,
      nav range: 419.520477 m,
      bearing: 75.891087 deg,
      approach rate: -0.771077 m/s,
      LOS rate: 0.000561 deg/s,
      cmd heading: 77.994668 deg,
      new cmd heading: 77.995324 deg.

2025-10-27T15:03:44.677Z,1761577424.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361275 target range: 411.239471 and range: 413.20 m.
2025-10-27T15:03:44.768Z,1761577424.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517317
2025-10-27T15:03:44.993Z,1761577424.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210578,-0.963109,-0.167563],[0.975950,0.217001,-0.020783],[0.056377,-0.159157,0.985642]]
2025-10-27T15:03:45.020Z,1761577425.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769315
2025-10-27T15:03:45.059Z,1761577425.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.24 m.
2025-10-27T15:03:45.069Z,1761577425.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.239471 m,
      nav range: 419.198059 m,
      bearing: 75.889463 deg,
      approach rate: -0.710993 m/s,
      LOS rate: -0.003585 deg/s,
      cmd heading: 77.995323 deg,
      new cmd heading: 77.990447 deg.

2025-10-27T15:03:45.070Z,1761577425.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361190 target range: 411.239471 and range: 413.20 m.
2025-10-27T15:03:45.272Z,1761577425.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021781
2025-10-27T15:03:45.394Z,1761577425.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210500,-0.963365,-0.166187],[0.976035,0.216700,-0.019892],[0.055176,-0.158017,0.985894]]
2025-10-27T15:03:45.421Z,1761577425.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.24 m.
2025-10-27T15:03:45.424Z,1761577425.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.239471 m,
      nav range: 418.902405 m,
      bearing: 75.887968 deg,
      approach rate: -0.816253 m/s,
      LOS rate: -0.004130 deg/s,
      cmd heading: 77.990447 deg,
      new cmd heading: 77.985959 deg.

2025-10-27T15:03:45.425Z,1761577425.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361112 target range: 411.239471 and range: 413.20 m.
2025-10-27T15:03:45.524Z,1761577425.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273659
2025-10-27T15:03:45.776Z,1761577425.776 [DAT](INFO): DAT read: Rx Time:15:03:44.2249

2025-10-27T15:03:45.776Z,1761577425.776 [DAT](INFO): Rx dataTimestamp_ set to:1761577425.776123
2025-10-27T15:03:45.777Z,1761577425.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526256
2025-10-27T15:03:45.798Z,1761577425.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210220,-0.963750,-0.164298],[0.976176,0.216153,-0.018906],[0.053735,-0.156409,0.986230]]
2025-10-27T15:03:45.916Z,1761577425.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.24 m.
2025-10-27T15:03:45.919Z,1761577425.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.239471 m,
      nav range: 418.538239 m,
      bearing: 75.886111 deg,
      approach rate: -0.735470 m/s,
      LOS rate: -0.003755 deg/s,
      cmd heading: 77.985959 deg,
      new cmd heading: 77.980382 deg.

2025-10-27T15:03:45.924Z,1761577425.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361014 target range: 411.239471 and range: 413.20 m.
2025-10-27T15:03:46.028Z,1761577426.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777171
2025-10-27T15:03:46.285Z,1761577426.285 [DAT](INFO): DAT read: 15:03:44.2249 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 393, 0.22, 1.184,-0.350, 1.512, 1.017, PHS= 0.269,-1.322, 0.451, RAW= 155.3,   7.2, CAL= 154.8,   7.4, ROT= 355.2,  -7.4

2025-10-27T15:03:46.286Z,1761577426.286 [DAT](INFO): got valid direction response:
 15:03:44.2249 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 393, 0.22, 1.184,-0.350, 1.512, 1.017, PHS= 0.269,-1.322, 0.451, RAW= 155.3,   7.2, CAL= 154.8,   7.4, ROT= 355.2,  -7.4

2025-10-27T15:03:46.287Z,1761577426.287 [DAT](INFO): DAT read: Bearing 222.1,  -2.8 (Local)

2025-10-27T15:03:46.287Z,1761577426.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.1,  -2.8 (Local)

2025-10-27T15:03:46.289Z,1761577426.289 [DAT](INFO): DAT read: Range 11 to 50 : 409.8 m  (Round-trip  546.5 ms) speed  0.7 m/s

2025-10-27T15:03:46.289Z,1761577426.289 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:46.290Z,1761577426.290 [DAT](INFO): direction in FSK: [0.988193,-0.082981,0.128796]
2025-10-27T15:03:46.291Z,1761577426.291 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:46.294Z,1761577426.294 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:46.294Z,1761577426.294 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:46.294Z,1761577426.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:46.428Z,1761577426.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 409.799988 m,
      deltaT: 4.283833 s,
      deltaX: -3.400024 m,
      approachRate: -0.793687 m/s,
      rangeRepo size: 4

2025-10-27T15:03:46.430Z,1761577426.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 407.856598 m,
      bearing: 74.236768 deg,
      lat: 36.779105 deg,
      lon: -121.859530 deg,
      deltaT: 4.283833 s,
      deltaX: -3.382874 m,
      approachRate: -0.789684 m/s,
      posRepo size: 4

2025-10-27T15:03:46.430Z,1761577426.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:46.437Z,1761577426.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 400.533539 m,
      bearing: 74.657818 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003755 deg/s,
      cmd heading: 77.980379 deg,
      new cmd heading: 77.974855 deg.

2025-10-27T15:03:46.438Z,1761577426.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360918 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:46.532Z,1761577426.532 [DAT](INFO): DAT read: user:888>

2025-10-27T15:03:46.533Z,1761577426.533 [DAT](INFO): DAT read: Tx time:15:03:45.5742

2025-10-27T15:03:46.533Z,1761577426.533 [DAT](INFO): Ping request sent.
2025-10-27T15:03:46.533Z,1761577426.533 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:46.534Z,1761577426.534 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:46.535Z,1761577426.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001494
2025-10-27T15:03:46.776Z,1761577426.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208883,-0.964567,-0.161176],[0.976634,0.214267,-0.016582],[0.050529,-0.153947,0.986786]]
2025-10-27T15:03:46.784Z,1761577426.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250902
2025-10-27T15:03:46.794Z,1761577426.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:46.813Z,1761577426.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:46.816Z,1761577426.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 400.236267 m,
      bearing: 74.655893 deg,
      approach rate: -0.731334 m/s,
      LOS rate: -0.004740 deg/s,
      cmd heading: 77.974853 deg,
      new cmd heading: 77.969074 deg.

2025-10-27T15:03:46.817Z,1761577426.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360817 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:47.036Z,1761577427.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503266
2025-10-27T15:03:47.172Z,1761577427.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208811,-0.964687,-0.160550],[0.976725,0.213954,-0.015250],[0.049062,-0.153629,0.986910]]
2025-10-27T15:03:47.221Z,1761577427.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:47.224Z,1761577427.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 399.923645 m,
      bearing: 74.652858 deg,
      approach rate: -0.766447 m/s,
      LOS rate: -0.007445 deg/s,
      cmd heading: 77.969075 deg,
      new cmd heading: 77.959965 deg.

2025-10-27T15:03:47.225Z,1761577427.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360658 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:47.288Z,1761577427.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754905
2025-10-27T15:03:47.540Z,1761577427.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789
2025-10-27T15:03:47.580Z,1761577427.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208620,-0.964737,-0.160501],[0.976859,0.213466,-0.013372],[0.047162,-0.153998,0.986945]]
2025-10-27T15:03:47.598Z,1761577427.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:47.601Z,1761577427.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 399.645477 m,
      bearing: 74.650146 deg,
      approach rate: -0.736552 m/s,
      LOS rate: -0.007187 deg/s,
      cmd heading: 77.959964 deg,
      new cmd heading: 77.951821 deg.

2025-10-27T15:03:47.602Z,1761577427.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360516 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:47.792Z,1761577427.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258986
2025-10-27T15:03:47.977Z,1761577427.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209124,-0.964698,-0.160081],[0.976828,0.213703,-0.011748],[0.045543,-0.153915,0.987034]]
2025-10-27T15:03:48.014Z,1761577428.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:48.017Z,1761577428.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 399.341400 m,
      bearing: 74.646832 deg,
      approach rate: -0.731349 m/s,
      LOS rate: -0.007978 deg/s,
      cmd heading: 77.951822 deg,
      new cmd heading: 77.941871 deg.

2025-10-27T15:03:48.018Z,1761577428.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360342 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:48.044Z,1761577428.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510841
2025-10-27T15:03:48.296Z,1761577428.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762942
2025-10-27T15:03:48.378Z,1761577428.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210075,-0.964530,-0.159843],[0.976718,0.214316,-0.009574],[0.043491,-0.154110,0.987096]]
2025-10-27T15:03:48.404Z,1761577428.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:48.407Z,1761577428.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 399.056061 m,
      bearing: 74.643756 deg,
      approach rate: -0.731684 m/s,
      LOS rate: -0.007891 deg/s,
      cmd heading: 77.941870 deg,
      new cmd heading: 77.932638 deg.

2025-10-27T15:03:48.408Z,1761577428.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360181 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:48.548Z,1761577428.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015242
2025-10-27T15:03:48.793Z,1761577428.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210159,-0.964616,-0.159214],[0.976787,0.214077,-0.007671],[0.041483,-0.153906,0.987214]]
2025-10-27T15:03:48.800Z,1761577428.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266867
2025-10-27T15:03:48.812Z,1761577428.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:48.814Z,1761577428.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:48.817Z,1761577428.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 398.756653 m,
      bearing: 74.640528 deg,
      approach rate: -0.730714 m/s,
      LOS rate: -0.007885 deg/s,
      cmd heading: 77.932636 deg,
      new cmd heading: 77.922944 deg.

2025-10-27T15:03:48.818Z,1761577428.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360012 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:49.052Z,1761577429.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518772
2025-10-27T15:03:49.185Z,1761577429.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209859,-0.964685,-0.159192],[0.976948,0.213412,-0.005365],[0.039149,-0.154396,0.987233]]
2025-10-27T15:03:49.241Z,1761577429.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:49.243Z,1761577429.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 398.448212 m,
      bearing: 74.637500 deg,
      approach rate: -0.722859 m/s,
      LOS rate: -0.007101 deg/s,
      cmd heading: 77.922944 deg,
      new cmd heading: 77.913853 deg.

2025-10-27T15:03:49.244Z,1761577429.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359853 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:49.304Z,1761577429.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770913
2025-10-27T15:03:49.556Z,1761577429.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022736
2025-10-27T15:03:49.659Z,1761577429.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:49.662Z,1761577429.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 398.165894 m,
      bearing: 74.634725 deg,
      approach rate: -0.681018 m/s,
      LOS rate: -0.006700 deg/s,
      cmd heading: 77.913853 deg,
      new cmd heading: 77.905520 deg.

2025-10-27T15:03:49.667Z,1761577429.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359708 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:49.808Z,1761577429.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275343
2025-10-27T15:03:50.020Z,1761577430.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209130,-0.964743,-0.159799],[0.977264,0.212022,-0.001070],[0.034913,-0.155942,0.987149]]
2025-10-27T15:03:50.060Z,1761577430.060 [DAT](INFO): DAT read: Rx Time:15:03:48.5498

2025-10-27T15:03:50.060Z,1761577430.060 [DAT](INFO): Rx dataTimestamp_ set to:1761577430.060204
2025-10-27T15:03:50.061Z,1761577430.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527881
2025-10-27T15:03:50.084Z,1761577430.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:50.086Z,1761577430.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 397.874298 m,
      bearing: 74.632271 deg,
      approach rate: -0.687969 m/s,
      LOS rate: -0.005793 deg/s,
      cmd heading: 77.905520 deg,
      new cmd heading: 77.898154 deg.

2025-10-27T15:03:50.092Z,1761577430.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359579 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:50.313Z,1761577430.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779475
2025-10-27T15:03:50.465Z,1761577430.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208896,-0.964815,-0.159669],[0.977383,0.211477,0.000850],[0.032946,-0.156235,0.987170]]
2025-10-27T15:03:50.484Z,1761577430.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.86 m.
2025-10-27T15:03:50.486Z,1761577430.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.856598 m,
      nav range: 397.578979 m,
      bearing: 74.629772 deg,
      approach rate: -0.729807 m/s,
      LOS rate: -0.006181 deg/s,
      cmd heading: 77.898150 deg,
      new cmd heading: 77.890647 deg.

2025-10-27T15:03:50.488Z,1761577430.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359448 target range: 407.856598 and range: 409.80 m.
2025-10-27T15:03:50.572Z,1761577430.572 [DAT](INFO): DAT read: 15:03:48.5498 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 184,-0.30, 2.852, 1.447, 3.055, 2.586, PHS= 0.369,-1.094, 0.426, RAW= 151.9,   4.1, CAL= 151.0,   3.9, ROT= 359.0,  -3.9

2025-10-27T15:03:50.574Z,1761577430.574 [DAT](INFO): got valid direction response:
 15:03:48.5498 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 184,-0.30, 2.852, 1.447, 3.055, 2.586, PHS= 0.369,-1.094, 0.426, RAW= 151.9,   4.1, CAL= 151.0,   3.9, ROT= 359.0,  -3.9

2025-10-27T15:03:50.575Z,1761577430.575 [DAT](INFO): DAT read: Bearing 219.5,   0.3 (Local)

2025-10-27T15:03:50.576Z,1761577430.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.5,   0.3 (Local)

2025-10-27T15:03:50.578Z,1761577430.578 [DAT](INFO): DAT read: Range 11 to 50 : 428.5 m  (Round-trip  571.4 ms) speed  0.4 m/s

2025-10-27T15:03:50.580Z,1761577430.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:50.628Z,1761577430.628 [DAT](INFO): direction in FSK: [0.997532,-0.017412,0.068015]
2025-10-27T15:03:50.629Z,1761577430.629 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:50.641Z,1761577430.641 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:50.641Z,1761577430.641 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:50.642Z,1761577430.642 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:50.816Z,1761577430.816 [DAT](INFO): DAT read: user:889>

2025-10-27T15:03:50.817Z,1761577430.817 [DAT](INFO): DAT read: Tx time:15:03:49.9242

2025-10-27T15:03:50.817Z,1761577430.817 [DAT](INFO): Ping request sent.
2025-10-27T15:03:50.817Z,1761577430.817 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:50.817Z,1761577430.817 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:50.818Z,1761577430.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-27T15:03:50.919Z,1761577430.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 428.500000 m,
      deltaT: 4.284708 s,
      deltaX: 18.700012 m,
      approachRate: 4.364361 m/s,
      rangeRepo size: 4

2025-10-27T15:03:50.921Z,1761577430.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 426.464203 m,
      bearing: 77.557462 deg,
      lat: 36.779069 deg,
      lon: -121.859314 deg,
      deltaT: 4.284708 s,
      deltaX: 18.607605 m,
      approachRate: 4.342794 m/s,
      posRepo size: 4

2025-10-27T15:03:50.922Z,1761577430.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.46 m.
2025-10-27T15:03:50.929Z,1761577430.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.464203 m,
      nav range: 414.930450 m,
      bearing: 75.865408 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006181 deg/s,
      cmd heading: 77.890644 deg,
      new cmd heading: 77.882588 deg.

2025-10-27T15:03:50.933Z,1761577430.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359308 target range: 426.464203 and range: 428.50 m.
2025-10-27T15:03:51.068Z,1761577431.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251357
2025-10-27T15:03:51.283Z,1761577431.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209282,-0.965826,-0.152909],[0.977417,0.211296,0.003142],[0.029275,-0.150113,0.988235]]
2025-10-27T15:03:51.320Z,1761577431.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502961
2025-10-27T15:03:51.336Z,1761577431.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:51.338Z,1761577431.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.46 m.
2025-10-27T15:03:51.341Z,1761577431.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.464203 m,
      nav range: 414.630341 m,
      bearing: 75.865339 deg,
      approach rate: -0.714449 m/s,
      LOS rate: -0.000164 deg/s,
      cmd heading: 77.882584 deg,
      new cmd heading: 77.882378 deg.

2025-10-27T15:03:51.342Z,1761577431.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359304 target range: 426.464203 and range: 428.50 m.
2025-10-27T15:03:51.572Z,1761577431.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755331
2025-10-27T15:03:51.692Z,1761577431.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209477,-0.965899,-0.152181],[0.977427,0.211220,0.004808],[0.027499,-0.149753,0.988341]]
2025-10-27T15:03:51.711Z,1761577431.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.46 m.
2025-10-27T15:03:51.714Z,1761577431.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.464203 m,
      nav range: 414.373749 m,
      bearing: 75.865287 deg,
      approach rate: -0.688301 m/s,
      LOS rate: -0.000141 deg/s,
      cmd heading: 77.882379 deg,
      new cmd heading: 77.882222 deg.

2025-10-27T15:03:51.715Z,1761577431.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359301 target range: 426.464203 and range: 428.50 m.
2025-10-27T15:03:51.824Z,1761577431.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006895
2025-10-27T15:03:52.076Z,1761577432.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258820
2025-10-27T15:03:52.092Z,1761577432.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210144,-0.965582,-0.153270],[0.977319,0.211675,0.006448],[0.026217,-0.151148,0.988163]]
2025-10-27T15:03:52.162Z,1761577432.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.46 m.
2025-10-27T15:03:52.169Z,1761577432.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.464203 m,
      nav range: 414.080750 m,
      bearing: 75.865142 deg,
      approach rate: -0.649182 m/s,
      LOS rate: -0.000321 deg/s,
      cmd heading: 77.882222 deg,
      new cmd heading: 77.881787 deg.

2025-10-27T15:03:52.170Z,1761577432.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359294 target range: 426.464203 and range: 428.50 m.
2025-10-27T15:03:52.328Z,1761577432.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797
2025-10-27T15:03:52.502Z,1761577432.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211673,-0.964972,-0.154997],[0.977022,0.212972,0.008367],[0.024936,-0.153207,0.987879]]
2025-10-27T15:03:52.521Z,1761577432.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.46 m.
2025-10-27T15:03:52.524Z,1761577432.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.464203 m,
      nav range: 413.837982 m,
      bearing: 75.865074 deg,
      approach rate: -0.676176 m/s,
      LOS rate: -0.000189 deg/s,
      cmd heading: 77.881785 deg,
      new cmd heading: 77.881582 deg.

2025-10-27T15:03:52.525Z,1761577432.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359290 target range: 426.464203 and range: 428.50 m.
2025-10-27T15:03:52.581Z,1761577432.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763374
2025-10-27T15:03:52.832Z,1761577432.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014801
2025-10-27T15:03:52.902Z,1761577432.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213418,-0.963997,-0.158626],[0.976676,0.214444,0.010819],[0.023587,-0.157236,0.987279]]
2025-10-27T15:03:52.929Z,1761577432.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.46 m.
2025-10-27T15:03:52.932Z,1761577432.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.464203 m,
      nav range: 413.568481 m,
      bearing: 75.865066 deg,
      approach rate: -0.661248 m/s,
      LOS rate: -0.000020 deg/s,
      cmd heading: 77.881580 deg,
      new cmd heading: 77.881556 deg.

2025-10-27T15:03:52.933Z,1761577432.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359290 target range: 426.464203 and range: 428.50 m.
2025-10-27T15:03:53.084Z,1761577433.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266893
2025-10-27T15:03:53.336Z,1761577433.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518870
2025-10-27T15:03:53.366Z,1761577433.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:53.368Z,1761577433.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.46 m.
2025-10-27T15:03:53.392Z,1761577433.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.464203 m,
      nav range: 413.280457 m,
      bearing: 75.865721 deg,
      approach rate: -0.655550 m/s,
      LOS rate: 0.001492 deg/s,
      cmd heading: 77.881553 deg,
      new cmd heading: 77.883519 deg.

2025-10-27T15:03:53.393Z,1761577433.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359324 target range: 426.464203 and range: 428.50 m.
2025-10-27T15:03:53.588Z,1761577433.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770988
2025-10-27T15:03:53.710Z,1761577433.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216787,-0.962573,-0.162654],[0.976008,0.217173,0.015625],[0.020284,-0.162139,0.986560]]
2025-10-27T15:03:53.755Z,1761577433.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.46 m.
2025-10-27T15:03:53.758Z,1761577433.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.464203 m,
      nav range: 413.042542 m,
      bearing: 75.866374 deg,
      approach rate: -0.649395 m/s,
      LOS rate: 0.001784 deg/s,
      cmd heading: 77.883520 deg,
      new cmd heading: 77.885481 deg.

2025-10-27T15:03:53.763Z,1761577433.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359358 target range: 426.464203 and range: 428.50 m.
2025-10-27T15:03:53.840Z,1761577433.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022943
2025-10-27T15:03:54.092Z,1761577434.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274802
2025-10-27T15:03:54.176Z,1761577434.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.46 m.
2025-10-27T15:03:54.179Z,1761577434.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.464203 m,
      nav range: 412.744629 m,
      bearing: 75.867190 deg,
      approach rate: -0.674596 m/s,
      LOS rate: 0.001849 deg/s,
      cmd heading: 77.885480 deg,
      new cmd heading: 77.887930 deg.

2025-10-27T15:03:54.180Z,1761577434.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359401 target range: 426.464203 and range: 428.50 m.
2025-10-27T15:03:54.344Z,1761577434.344 [DAT](INFO): DAT read: Rx Time:15:03:52.8961

2025-10-27T15:03:54.344Z,1761577434.344 [DAT](INFO): Rx dataTimestamp_ set to:1761577434.344161
2025-10-27T15:03:54.345Z,1761577434.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527922
2025-10-27T15:03:54.555Z,1761577434.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.46 m.
2025-10-27T15:03:54.558Z,1761577434.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.464203 m,
      nav range: 412.491302 m,
      bearing: 75.867885 deg,
      approach rate: -0.668699 m/s,
      LOS rate: 0.001835 deg/s,
      cmd heading: 77.887932 deg,
      new cmd heading: 77.890018 deg.

2025-10-27T15:03:54.559Z,1761577434.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359437 target range: 426.464203 and range: 428.50 m.
2025-10-27T15:03:54.596Z,1761577434.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778934
2025-10-27T15:03:54.857Z,1761577434.857 [DAT](INFO): DAT read: 15:03:52.8961 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403,-0.01,-1.364,-2.743,-1.205,-1.650, PHS= 0.388,-1.048, 0.401, RAW= 150.4,   3.6, CAL= 149.5,   3.6, ROT=   0.5,  -3.6

2025-10-27T15:03:54.858Z,1761577434.858 [DAT](INFO): got valid direction response:
 15:03:52.8961 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403,-0.01,-1.364,-2.743,-1.205,-1.650, PHS= 0.388,-1.048, 0.401, RAW= 150.4,   3.6, CAL= 149.5,   3.6, ROT=   0.5,  -3.6

2025-10-27T15:03:54.860Z,1761577434.860 [DAT](INFO): DAT read: Bearing 219.6,   0.8 (Local)

2025-10-27T15:03:54.861Z,1761577434.861 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.6,   0.8 (Local)

2025-10-27T15:03:54.862Z,1761577434.862 [DAT](INFO): DAT read: Range 11 to 50 : 425.8 m  (Round-trip  567.8 ms) speed  0.7 m/s

2025-10-27T15:03:54.863Z,1761577434.863 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:54.864Z,1761577434.864 [DAT](INFO): direction in FSK: [0.997989,0.008709,0.062791]
2025-10-27T15:03:54.865Z,1761577434.865 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:54.868Z,1761577434.868 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:54.868Z,1761577434.868 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:54.868Z,1761577434.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:54.954Z,1761577434.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220094,-0.961910,-0.162136],[0.975363,0.219571,0.021361],[0.015053,-0.162843,0.986537]]
2025-10-27T15:03:55.066Z,1761577435.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 425.799988 m,
      deltaT: 4.284608 s,
      deltaX: -2.700012 m,
      approachRate: -0.630166 m/s,
      rangeRepo size: 4

2025-10-27T15:03:55.072Z,1761577435.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 423.779053 m,
      bearing: 78.365400 deg,
      lat: 36.779069 deg,
      lon: -121.859314 deg,
      deltaT: 4.284608 s,
      deltaX: -2.685150 m,
      approachRate: -0.626697 m/s,
      posRepo size: 4

2025-10-27T15:03:55.073Z,1761577435.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.78 m.
2025-10-27T15:03:55.080Z,1761577435.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.779053 m,
      nav range: 412.198578 m,
      bearing: 75.868825 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001835 deg/s,
      cmd heading: 77.890016 deg,
      new cmd heading: 77.892824 deg.

2025-10-27T15:03:55.081Z,1761577435.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359486 target range: 423.779053 and range: 425.80 m.
2025-10-27T15:03:55.100Z,1761577435.100 [DAT](INFO): DAT read: user:890>

2025-10-27T15:03:55.101Z,1761577435.101 [DAT](INFO): DAT read: Tx time:15:03:54.1242

2025-10-27T15:03:55.101Z,1761577435.101 [DAT](INFO): Ping request sent.
2025-10-27T15:03:55.101Z,1761577435.101 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:55.101Z,1761577435.101 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:55.102Z,1761577435.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-27T15:03:55.352Z,1761577435.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250763
2025-10-27T15:03:55.406Z,1761577435.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221088,-0.961817,-0.161331],[0.975161,0.220300,0.022986],[0.013433,-0.162406,0.986633]]
2025-10-27T15:03:55.442Z,1761577435.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:55.460Z,1761577435.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.78 m.
2025-10-27T15:03:55.467Z,1761577435.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.779053 m,
      nav range: 411.893433 m,
      bearing: 75.869710 deg,
      approach rate: -0.772310 m/s,
      LOS rate: 0.002242 deg/s,
      cmd heading: 77.892823 deg,
      new cmd heading: 77.895481 deg.

2025-10-27T15:03:55.468Z,1761577435.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359533 target range: 423.779053 and range: 425.80 m.
2025-10-27T15:03:55.604Z,1761577435.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503125
2025-10-27T15:03:55.801Z,1761577435.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221974,-0.961815,-0.160122],[0.974981,0.220929,0.024527],[0.011785,-0.161561,0.986792]]
2025-10-27T15:03:55.848Z,1761577435.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.78 m.
2025-10-27T15:03:55.853Z,1761577435.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.779053 m,
      nav range: 411.633820 m,
      bearing: 75.870498 deg,
      approach rate: -0.669111 m/s,
      LOS rate: 0.002031 deg/s,
      cmd heading: 77.895480 deg,
      new cmd heading: 77.897844 deg.

2025-10-27T15:03:55.854Z,1761577435.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359574 target range: 423.779053 and range: 425.80 m.
2025-10-27T15:03:55.856Z,1761577435.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754974
2025-10-27T15:03:56.109Z,1761577436.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008221
2025-10-27T15:03:56.206Z,1761577436.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222615,-0.961909,-0.158660],[0.974852,0.221356,0.025794],[0.010309,-0.160412,0.986996]]
2025-10-27T15:03:56.253Z,1761577436.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.78 m.
2025-10-27T15:03:56.256Z,1761577436.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.779053 m,
      nav range: 411.333893 m,
      bearing: 75.870407 deg,
      approach rate: -0.741547 m/s,
      LOS rate: -0.000224 deg/s,
      cmd heading: 77.897843 deg,
      new cmd heading: 77.897571 deg.

2025-10-27T15:03:56.257Z,1761577436.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359569 target range: 423.779053 and range: 425.80 m.
2025-10-27T15:03:56.360Z,1761577436.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258972
2025-10-27T15:03:56.613Z,1761577436.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512160
2025-10-27T15:03:56.620Z,1761577436.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223130,-0.962170,-0.156342],[0.974748,0.221704,0.026728],[0.008945,-0.158357,0.987341]]
2025-10-27T15:03:56.666Z,1761577436.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.78 m.
2025-10-27T15:03:56.673Z,1761577436.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.779053 m,
      nav range: 411.055084 m,
      bearing: 75.870346 deg,
      approach rate: -0.673789 m/s,
      LOS rate: -0.000149 deg/s,
      cmd heading: 77.897570 deg,
      new cmd heading: 77.897384 deg.

2025-10-27T15:03:56.674Z,1761577436.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359566 target range: 423.779053 and range: 425.80 m.
2025-10-27T15:03:56.864Z,1761577436.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762774
2025-10-27T15:03:57.026Z,1761577437.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223393,-0.962512,-0.153841],[0.974699,0.221820,0.027540],[0.007617,-0.156100,0.987712]]
2025-10-27T15:03:57.102Z,1761577437.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.78 m.
2025-10-27T15:03:57.117Z,1761577437.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015724
2025-10-27T15:03:57.125Z,1761577437.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.779053 m,
      nav range: 410.738281 m,
      bearing: 75.870290 deg,
      approach rate: -0.727448 m/s,
      LOS rate: -0.000128 deg/s,
      cmd heading: 77.897385 deg,
      new cmd heading: 77.897218 deg.

2025-10-27T15:03:57.126Z,1761577437.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359563 target range: 423.779053 and range: 425.80 m.
2025-10-27T15:03:57.368Z,1761577437.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266731
2025-10-27T15:03:57.491Z,1761577437.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223432,-0.962652,-0.152902],[0.974700,0.221647,0.028843],[0.006124,-0.155478,0.987820]]
2025-10-27T15:03:57.546Z,1761577437.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:57.553Z,1761577437.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.78 m.
2025-10-27T15:03:57.572Z,1761577437.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.779053 m,
      nav range: 410.412537 m,
      bearing: 75.868403 deg,
      approach rate: -0.722650 m/s,
      LOS rate: -0.004189 deg/s,
      cmd heading: 77.897215 deg,
      new cmd heading: 77.891551 deg.

2025-10-27T15:03:57.573Z,1761577437.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359464 target range: 423.779053 and range: 425.80 m.
2025-10-27T15:03:57.621Z,1761577437.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520157
2025-10-27T15:03:57.872Z,1761577437.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770794
2025-10-27T15:03:57.908Z,1761577437.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223378,-0.962753,-0.152346],[0.974720,0.221400,0.030049],[0.004800,-0.155207,0.987870]]
2025-10-27T15:03:57.927Z,1761577437.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.78 m.
2025-10-27T15:03:57.930Z,1761577437.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.779053 m,
      nav range: 410.135437 m,
      bearing: 75.866794 deg,
      approach rate: -0.740103 m/s,
      LOS rate: -0.004301 deg/s,
      cmd heading: 77.891552 deg,
      new cmd heading: 77.886721 deg.

2025-10-27T15:03:57.931Z,1761577437.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359380 target range: 423.779053 and range: 425.80 m.
2025-10-27T15:03:58.125Z,1761577438.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023520
2025-10-27T15:03:58.298Z,1761577438.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222603,-0.963144,-0.151005],[0.974902,0.220506,0.030708],[0.003721,-0.154051,0.988056]]
2025-10-27T15:03:58.341Z,1761577438.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.78 m.
2025-10-27T15:03:58.348Z,1761577438.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.779053 m,
      nav range: 409.827301 m,
      bearing: 75.863981 deg,
      approach rate: -0.743866 m/s,
      LOS rate: -0.006796 deg/s,
      cmd heading: 77.886723 deg,
      new cmd heading: 77.878278 deg.

2025-10-27T15:03:58.349Z,1761577438.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359232 target range: 423.779053 and range: 425.80 m.
2025-10-27T15:03:58.376Z,1761577438.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274646
2025-10-27T15:03:58.629Z,1761577438.629 [DAT](INFO): DAT read: Rx Time:15:03:57.0928

2025-10-27T15:03:58.630Z,1761577438.630 [DAT](INFO): Rx dataTimestamp_ set to:1761577438.629572
2025-10-27T15:03:58.631Z,1761577438.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529646
2025-10-27T15:03:58.710Z,1761577438.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221191,-0.963764,-0.149105],[0.975226,0.219033,0.030954],[0.002827,-0.152258,0.988337]]
2025-10-27T15:03:58.755Z,1761577438.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.78 m.
2025-10-27T15:03:58.758Z,1761577438.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.779053 m,
      nav range: 409.527283 m,
      bearing: 75.861178 deg,
      approach rate: -0.732266 m/s,
      LOS rate: -0.006846 deg/s,
      cmd heading: 77.878275 deg,
      new cmd heading: 77.869859 deg.

2025-10-27T15:03:58.763Z,1761577438.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359085 target range: 423.779053 and range: 425.80 m.
2025-10-27T15:03:58.880Z,1761577438.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778879
2025-10-27T15:03:59.138Z,1761577439.138 [DAT](INFO): DAT read: 15:03:57.0928 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 400, 0.26, 2.905, 1.402, 3.135, 2.458, PHS= 0.549,-1.011, 0.632, RAW= 152.6,  -2.2, CAL= 151.8,  -3.2, ROT= 358.2,   3.2

2025-10-27T15:03:59.139Z,1761577439.139 [DAT](INFO): got valid direction response:
 15:03:57.0928 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 400, 0.26, 2.905, 1.402, 3.135, 2.458, PHS= 0.549,-1.011, 0.632, RAW= 152.6,  -2.2, CAL= 151.8,  -3.2, ROT= 358.2,   3.2

2025-10-27T15:03:59.140Z,1761577439.140 [DAT](INFO): DAT read: Bearing 212.5,  -1.1 (Local)

2025-10-27T15:03:59.141Z,1761577439.141 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.5,  -1.1 (Local)

2025-10-27T15:03:59.142Z,1761577439.142 [DAT](INFO): DAT read: Range 11 to 50 : 423.3 m  (Round-trip  564.5 ms) speed  0.5 m/s

2025-10-27T15:03:59.142Z,1761577439.142 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:03:59.143Z,1761577439.143 [DAT](INFO): direction in FSK: [0.997948,-0.031362,-0.055822]
2025-10-27T15:03:59.144Z,1761577439.144 [DAT](INFO): publishing direction and range info
2025-10-27T15:03:59.150Z,1761577439.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219403,-0.964443,-0.147347],[0.975632,0.217238,0.030834],[0.002272,-0.150521,0.988604]]
2025-10-27T15:03:59.187Z,1761577439.187 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:03:59.187Z,1761577439.187 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:03:59.188Z,1761577439.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:03:59.278Z,1761577439.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 423.299988 m,
      deltaT: 4.283581 s,
      deltaX: -2.500000 m,
      approachRate: -0.583624 m/s,
      rangeRepo size: 4

2025-10-27T15:03:59.284Z,1761577439.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 421.290833 m,
      bearing: 75.064931 deg,
      lat: 36.779069 deg,
      lon: -121.859203 deg,
      deltaT: 4.283581 s,
      deltaX: -2.488220 m,
      approachRate: -0.580874 m/s,
      posRepo size: 4

2025-10-27T15:03:59.285Z,1761577439.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-10-27T15:03:59.289Z,1761577439.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.290833 m,
      nav range: 418.690704 m,
      bearing: 76.186375 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006846 deg/s,
      cmd heading: 77.869860 deg,
      new cmd heading: 77.859054 deg.

2025-10-27T15:03:59.290Z,1761577439.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358897 target range: 421.290833 and range: 423.30 m.
2025-10-27T15:03:59.385Z,1761577439.385 [DAT](INFO): DAT read: user:891>

2025-10-27T15:03:59.386Z,1761577439.386 [DAT](INFO): DAT read: Tx time:15:03:58.4742

2025-10-27T15:03:59.386Z,1761577439.386 [DAT](INFO): Ping request sent.
2025-10-27T15:03:59.386Z,1761577439.386 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:03:59.387Z,1761577439.387 [DAT](INFO): publishing transmit ping time
2025-10-27T15:03:59.387Z,1761577439.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001030
2025-10-27T15:03:59.634Z,1761577439.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214360,-0.966100,-0.143876],[0.976753,0.212307,0.029656],[0.001895,-0.146888,0.989151]]
2025-10-27T15:03:59.636Z,1761577439.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249577
2025-10-27T15:03:59.668Z,1761577439.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:03:59.670Z,1761577439.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-10-27T15:03:59.677Z,1761577439.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.290833 m,
      nav range: 418.385345 m,
      bearing: 76.183203 deg,
      approach rate: -0.776384 m/s,
      LOS rate: -0.008070 deg/s,
      cmd heading: 77.859054 deg,
      new cmd heading: 77.849532 deg.

2025-10-27T15:03:59.678Z,1761577439.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358731 target range: 421.290833 and range: 423.30 m.
2025-10-27T15:03:59.888Z,1761577439.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501509
2025-10-27T15:04:00.026Z,1761577440.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211509,-0.967003,-0.142020],[0.977374,0.209557,0.028738],[0.001972,-0.144885,0.989446]]
2025-10-27T15:04:00.120Z,1761577440.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-10-27T15:04:00.130Z,1761577440.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.290833 m,
      nav range: 418.075531 m,
      bearing: 76.179855 deg,
      approach rate: -0.697746 m/s,
      LOS rate: -0.007545 deg/s,
      cmd heading: 77.849533 deg,
      new cmd heading: 77.839482 deg.

2025-10-27T15:04:00.135Z,1761577440.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358555 target range: 421.290833 and range: 423.30 m.
2025-10-27T15:04:00.140Z,1761577440.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753534
2025-10-27T15:04:00.395Z,1761577440.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007963
2025-10-27T15:04:00.489Z,1761577440.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-10-27T15:04:00.492Z,1761577440.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.290833 m,
      nav range: 417.742096 m,
      bearing: 76.175694 deg,
      approach rate: -0.890107 m/s,
      LOS rate: -0.011119 deg/s,
      cmd heading: 77.839479 deg,
      new cmd heading: 77.826984 deg.

2025-10-27T15:04:00.493Z,1761577440.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358337 target range: 421.290833 and range: 423.30 m.
2025-10-27T15:04:00.648Z,1761577440.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261490
2025-10-27T15:04:00.835Z,1761577440.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206699,-0.968319,-0.140119],[0.978402,0.204908,0.027250],[0.002325,-0.142725,0.989760]]
2025-10-27T15:04:00.854Z,1761577440.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-10-27T15:04:00.857Z,1761577440.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.290833 m,
      nav range: 417.462769 m,
      bearing: 76.172010 deg,
      approach rate: -0.765134 m/s,
      LOS rate: -0.010097 deg/s,
      cmd heading: 77.826987 deg,
      new cmd heading: 77.815928 deg.

2025-10-27T15:04:00.858Z,1761577440.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358144 target range: 421.290833 and range: 423.30 m.
2025-10-27T15:04:00.901Z,1761577440.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514754
2025-10-27T15:04:01.152Z,1761577441.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765428
2025-10-27T15:04:01.287Z,1761577441.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-10-27T15:04:01.290Z,1761577441.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.290833 m,
      nav range: 417.133179 m,
      bearing: 76.168385 deg,
      approach rate: -0.761304 m/s,
      LOS rate: -0.008381 deg/s,
      cmd heading: 77.815929 deg,
      new cmd heading: 77.805044 deg.

2025-10-27T15:04:01.291Z,1761577441.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357954 target range: 421.290833 and range: 423.30 m.
2025-10-27T15:04:01.404Z,1761577441.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017469
2025-10-27T15:04:01.644Z,1761577441.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202971,-0.969069,-0.140387],[0.979181,0.201269,0.026367],[0.002704,-0.142816,0.989746]]
2025-10-27T15:04:01.656Z,1761577441.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269567
2025-10-27T15:04:01.664Z,1761577441.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-10-27T15:04:01.667Z,1761577441.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.290833 m,
      nav range: 416.847595 m,
      bearing: 76.165089 deg,
      approach rate: -0.757950 m/s,
      LOS rate: -0.008754 deg/s,
      cmd heading: 77.805041 deg,
      new cmd heading: 77.795147 deg.

2025-10-27T15:04:01.668Z,1761577441.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357781 target range: 421.290833 and range: 423.30 m.
2025-10-27T15:04:01.909Z,1761577441.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522215
2025-10-27T15:04:02.154Z,1761577442.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202435,-0.969023,-0.141472],[0.979293,0.200655,0.026887],[0.002333,-0.143985,0.989577]]
2025-10-27T15:04:02.160Z,1761577442.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773456
2025-10-27T15:04:02.201Z,1761577442.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:02.204Z,1761577442.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-10-27T15:04:02.207Z,1761577442.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.290833 m,
      nav range: 416.441681 m,
      bearing: 76.160752 deg,
      approach rate: -0.751028 m/s,
      LOS rate: -0.008032 deg/s,
      cmd heading: 77.795144 deg,
      new cmd heading: 77.782121 deg.

2025-10-27T15:04:02.208Z,1761577442.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357554 target range: 421.290833 and range: 423.30 m.
2025-10-27T15:04:02.412Z,1761577442.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025433
2025-10-27T15:04:02.542Z,1761577442.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201806,-0.969096,-0.141873],[0.979424,0.199912,0.027626],[0.001590,-0.144529,0.989499]]
2025-10-27T15:04:02.577Z,1761577442.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-10-27T15:04:02.579Z,1761577442.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.290833 m,
      nav range: 416.161804 m,
      bearing: 76.157732 deg,
      approach rate: -0.751906 m/s,
      LOS rate: -0.008117 deg/s,
      cmd heading: 77.782119 deg,
      new cmd heading: 77.773055 deg.

2025-10-27T15:04:02.580Z,1761577442.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357396 target range: 421.290833 and range: 423.30 m.
2025-10-27T15:04:02.664Z,1761577442.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277561
2025-10-27T15:04:02.917Z,1761577442.917 [DAT](INFO): DAT read: Rx Time:15:04:01.4395

2025-10-27T15:04:02.918Z,1761577442.918 [DAT](INFO): Rx dataTimestamp_ set to:1761577442.917077
2025-10-27T15:04:02.918Z,1761577442.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531803
2025-10-27T15:04:02.996Z,1761577442.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201591,-0.968849,-0.143847],[0.979469,0.199530,0.028762],[0.000835,-0.146692,0.989182]]
2025-10-27T15:04:03.014Z,1761577443.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-10-27T15:04:03.017Z,1761577443.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.290833 m,
      nav range: 415.833466 m,
      bearing: 76.154178 deg,
      approach rate: -0.751122 m/s,
      LOS rate: -0.008136 deg/s,
      cmd heading: 77.773055 deg,
      new cmd heading: 77.762386 deg.

2025-10-27T15:04:03.018Z,1761577443.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357210 target range: 421.290833 and range: 423.30 m.
2025-10-27T15:04:03.170Z,1761577443.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783599
2025-10-27T15:04:03.425Z,1761577443.425 [DAT](INFO): DAT read: 15:04:01.4395 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 257,-0.22,-2.120, 2.657,-1.834,-2.208, PHS= 0.190,-1.372, 0.330, RAW= 154.3,  10.4, CAL= 154.1,  11.4, ROT= 355.9, -11.4

2025-10-27T15:04:03.426Z,1761577443.426 [DAT](INFO): got valid direction response:
 15:04:01.4395 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 257,-0.22,-2.120, 2.657,-1.834,-2.208, PHS= 0.190,-1.372, 0.330, RAW= 154.3,  10.4, CAL= 154.1,  11.4, ROT= 355.9, -11.4

2025-10-27T15:04:03.427Z,1761577443.427 [DAT](INFO): DAT read: Bearing 227.3,  -5.9 (Local)

2025-10-27T15:04:03.427Z,1761577443.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.3,  -5.9 (Local)

2025-10-27T15:04:03.429Z,1761577443.429 [DAT](INFO): DAT read: Range 11 to 50 : 420.9 m  (Round-trip  561.2 ms) speed  0.6 m/s

2025-10-27T15:04:03.429Z,1761577443.429 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:03.430Z,1761577443.430 [DAT](INFO): direction in FSK: [0.977762,-0.070087,0.197657]
2025-10-27T15:04:03.431Z,1761577443.431 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:03.434Z,1761577443.434 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:03.434Z,1761577443.434 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:03.434Z,1761577443.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:03.520Z,1761577443.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 420.899994 m,
      deltaT: 4.287144 s,
      deltaX: -2.399994 m,
      approachRate: -0.559812 m/s,
      rangeRepo size: 4

2025-10-27T15:04:03.522Z,1761577443.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 418.902802 m,
      bearing: 76.007367 deg,
      lat: 36.779066 deg,
      lon: -121.859203 deg,
      deltaT: 4.287144 s,
      deltaX: -2.388031 m,
      approachRate: -0.557021 m/s,
      posRepo size: 4

2025-10-27T15:04:03.522Z,1761577443.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:03.529Z,1761577443.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 415.406464 m,
      bearing: 76.196440 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008136 deg/s,
      cmd heading: 77.762387 deg,
      new cmd heading: 77.750161 deg.

2025-10-27T15:04:03.530Z,1761577443.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356996 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:03.672Z,1761577443.672 [DAT](INFO): DAT read: user:892>

2025-10-27T15:04:03.673Z,1761577443.673 [DAT](INFO): DAT read: Tx time:15:04:02.6742

2025-10-27T15:04:03.673Z,1761577443.673 [DAT](INFO): Ping request sent.
2025-10-27T15:04:03.673Z,1761577443.673 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:03.673Z,1761577443.673 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:03.674Z,1761577443.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-27T15:04:03.840Z,1761577443.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203357,-0.967878,-0.147843],[0.979102,0.200644,0.033196],[-0.002466,-0.151504,0.988454]]
2025-10-27T15:04:03.867Z,1761577443.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:03.869Z,1761577443.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 415.142242 m,
      bearing: 76.194949 deg,
      approach rate: -0.750863 m/s,
      LOS rate: -0.004240 deg/s,
      cmd heading: 77.750161 deg,
      new cmd heading: 77.745685 deg.

2025-10-27T15:04:03.870Z,1761577443.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356918 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:03.925Z,1761577443.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251698
2025-10-27T15:04:04.176Z,1761577444.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502624
2025-10-27T15:04:04.241Z,1761577444.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204580,-0.967255,-0.150214],[0.978839,0.201433,0.036041],[-0.004602,-0.154409,0.987996]]
2025-10-27T15:04:04.293Z,1761577444.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:04.295Z,1761577444.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:04.298Z,1761577444.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 414.849335 m,
      bearing: 76.195093 deg,
      approach rate: -0.683800 m/s,
      LOS rate: 0.000335 deg/s,
      cmd heading: 77.745687 deg,
      new cmd heading: 77.746118 deg.

2025-10-27T15:04:04.299Z,1761577444.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356926 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:04.428Z,1761577444.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754546
2025-10-27T15:04:04.645Z,1761577444.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206552,-0.966576,-0.151880],[0.978410,0.202929,0.039155],[-0.007025,-0.156689,0.987623]]
2025-10-27T15:04:04.676Z,1761577444.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:04.678Z,1761577444.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 414.588715 m,
      bearing: 76.195294 deg,
      approach rate: -0.684385 m/s,
      LOS rate: 0.000529 deg/s,
      cmd heading: 77.746117 deg,
      new cmd heading: 77.746722 deg.

2025-10-27T15:04:04.680Z,1761577444.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006785
2025-10-27T15:04:04.681Z,1761577444.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356936 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:04.932Z,1761577444.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258790
2025-10-27T15:04:05.050Z,1761577445.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208978,-0.965920,-0.152730],[0.977872,0.204852,0.042446],[-0.009713,-0.158220,0.987356]]
2025-10-27T15:04:05.092Z,1761577445.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:05.101Z,1761577445.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 414.315857 m,
      bearing: 76.195600 deg,
      approach rate: -0.683357 m/s,
      LOS rate: 0.000765 deg/s,
      cmd heading: 77.746718 deg,
      new cmd heading: 77.747635 deg.

2025-10-27T15:04:05.108Z,1761577445.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356952 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:05.186Z,1761577445.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512597
2025-10-27T15:04:05.436Z,1761577445.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763059
2025-10-27T15:04:05.493Z,1761577445.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211725,-0.965256,-0.153143],[0.977251,0.207106,0.045697],[-0.012392,-0.159335,0.987147]]
2025-10-27T15:04:05.546Z,1761577445.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:05.549Z,1761577445.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 414.011078 m,
      bearing: 76.196078 deg,
      approach rate: -0.647223 m/s,
      LOS rate: 0.001016 deg/s,
      cmd heading: 77.747634 deg,
      new cmd heading: 77.749069 deg.

2025-10-27T15:04:05.550Z,1761577445.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356977 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:05.688Z,1761577445.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014708
2025-10-27T15:04:05.895Z,1761577445.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214541,-0.964537,-0.153755],[0.976595,0.209373,0.049247],[-0.015309,-0.160722,0.986881]]
2025-10-27T15:04:05.918Z,1761577445.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:05.921Z,1761577445.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 413.772949 m,
      bearing: 76.196548 deg,
      approach rate: -0.639930 m/s,
      LOS rate: 0.001263 deg/s,
      cmd heading: 77.749068 deg,
      new cmd heading: 77.750477 deg.

2025-10-27T15:04:05.922Z,1761577445.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357002 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:05.957Z,1761577445.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283600
2025-10-27T15:04:06.208Z,1761577446.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534578
2025-10-27T15:04:06.297Z,1761577446.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217295,-0.963723,-0.154985],[0.975935,0.211533,0.052953],[-0.018247,-0.162761,0.986497]]
2025-10-27T15:04:06.341Z,1761577446.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:06.343Z,1761577446.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:06.346Z,1761577446.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 413.490448 m,
      bearing: 76.197641 deg,
      approach rate: -0.664795 m/s,
      LOS rate: 0.002574 deg/s,
      cmd heading: 77.750475 deg,
      new cmd heading: 77.753756 deg.

2025-10-27T15:04:06.347Z,1761577446.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357059 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:06.461Z,1761577446.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787519
2025-10-27T15:04:06.712Z,1761577446.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038858
2025-10-27T15:04:06.769Z,1761577446.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:06.784Z,1761577446.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 413.227783 m,
      bearing: 76.198658 deg,
      approach rate: -0.616016 m/s,
      LOS rate: 0.002388 deg/s,
      cmd heading: 77.753753 deg,
      new cmd heading: 77.756808 deg.

2025-10-27T15:04:06.785Z,1761577446.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357112 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:06.964Z,1761577446.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290650
2025-10-27T15:04:07.117Z,1761577447.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222747,-0.962509,-0.154794],[0.974566,0.215841,0.060286],[-0.024615,-0.164286,0.986106]]
2025-10-27T15:04:07.154Z,1761577447.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:07.161Z,1761577447.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 412.967438 m,
      bearing: 76.199870 deg,
      approach rate: -0.677242 m/s,
      LOS rate: 0.003154 deg/s,
      cmd heading: 77.756806 deg,
      new cmd heading: 77.760444 deg.

2025-10-27T15:04:07.162Z,1761577447.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357176 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:07.219Z,1761577447.219 [DAT](INFO): DAT read: Rx Time:15:04:05.6218

2025-10-27T15:04:07.221Z,1761577447.221 [DAT](INFO): Rx dataTimestamp_ set to:1761577447.219867
2025-10-27T15:04:07.223Z,1761577447.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.549048
2025-10-27T15:04:07.468Z,1761577447.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794633
2025-10-27T15:04:07.551Z,1761577447.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225105,-0.962114,-0.153832],[0.973941,0.217707,0.063577],[-0.027678,-0.164135,0.986049]]
2025-10-27T15:04:07.625Z,1761577447.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.90 m.
2025-10-27T15:04:07.632Z,1761577447.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.902802 m,
      nav range: 412.652191 m,
      bearing: 76.201119 deg,
      approach rate: -0.669360 m/s,
      LOS rate: 0.002655 deg/s,
      cmd heading: 77.760447 deg,
      new cmd heading: 77.764198 deg.

2025-10-27T15:04:07.633Z,1761577447.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357241 target range: 418.902802 and range: 420.90 m.
2025-10-27T15:04:07.730Z,1761577447.730 [DAT](INFO): DAT read: 15:04:05.6218 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 252,-0.26,-1.342,-2.502,-1.141,-1.386, PHS= 0.146,-1.071, 0.200, RAW= 152.2,  11.6, CAL= 152.1,  12.8, ROT= 357.9, -12.8

2025-10-27T15:04:07.732Z,1761577447.732 [DAT](INFO): got valid direction response:
 15:04:05.6218 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 252,-0.26,-1.342,-2.502,-1.141,-1.386, PHS= 0.146,-1.071, 0.200, RAW= 152.2,  11.6, CAL= 152.1,  12.8, ROT= 357.9, -12.8

2025-10-27T15:04:07.733Z,1761577447.733 [DAT](INFO): DAT read: Bearing 227.6,  -5.4 (Local)

2025-10-27T15:04:07.734Z,1761577447.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.6,  -5.4 (Local)

2025-10-27T15:04:07.736Z,1761577447.736 [DAT](INFO): DAT read: Range 11 to 50 : 407.7 m  (Round-trip  543.6 ms) speed  0.8 m/s

2025-10-27T15:04:07.737Z,1761577447.737 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:07.738Z,1761577447.738 [DAT](INFO): direction in FSK: [0.974494,-0.035733,0.221548]
2025-10-27T15:04:07.738Z,1761577447.738 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:07.755Z,1761577447.755 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:07.766Z,1761577447.766 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:07.775Z,1761577447.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:07.967Z,1761577447.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227060,-0.961963,-0.151892],[0.973393,0.219233,0.066657],[-0.030821,-0.162986,0.986147]]
2025-10-27T15:04:07.972Z,1761577447.972 [DAT](INFO): DAT read: user:893>

2025-10-27T15:04:07.973Z,1761577447.973 [DAT](INFO): DAT read: Tx time:15:04:07.0241

2025-10-27T15:04:07.973Z,1761577447.973 [DAT](INFO): Ping request sent.
2025-10-27T15:04:07.973Z,1761577447.973 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:07.973Z,1761577447.973 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:07.974Z,1761577447.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-27T15:04:08.046Z,1761577448.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 407.700012 m,
      deltaT: 4.300880 s,
      deltaX: -13.199982 m,
      approachRate: -3.069135 m/s,
      rangeRepo size: 4

2025-10-27T15:04:08.052Z,1761577448.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 405.764923 m,
      bearing: 76.920505 deg,
      lat: 36.778992 deg,
      lon: -121.859203 deg,
      deltaT: 4.300880 s,
      deltaX: -13.137878 m,
      approachRate: -3.054695 m/s,
      posRepo size: 4

2025-10-27T15:04:08.053Z,1761577448.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.76 m.
2025-10-27T15:04:08.060Z,1761577448.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.764923 m,
      nav range: 410.468933 m,
      bearing: 77.322082 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002655 deg/s,
      cmd heading: 77.764197 deg,
      new cmd heading: 77.767544 deg.

2025-10-27T15:04:08.061Z,1761577448.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357300 target range: 405.764923 and range: 407.70 m.
2025-10-27T15:04:08.227Z,1761577448.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253095
2025-10-27T15:04:08.435Z,1761577448.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229063,-0.962271,-0.146847],[0.972751,0.220730,0.070952],[-0.035862,-0.159098,0.986611]]
2025-10-27T15:04:08.476Z,1761577448.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502838
2025-10-27T15:04:08.490Z,1761577448.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:08.492Z,1761577448.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.76 m.
2025-10-27T15:04:08.495Z,1761577448.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.764923 m,
      nav range: 410.136414 m,
      bearing: 77.323634 deg,
      approach rate: -0.743311 m/s,
      LOS rate: 0.003471 deg/s,
      cmd heading: 77.767544 deg,
      new cmd heading: 77.772202 deg.

2025-10-27T15:04:08.496Z,1761577448.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357381 target range: 405.764923 and range: 407.70 m.
2025-10-27T15:04:08.729Z,1761577448.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755813
2025-10-27T15:04:08.834Z,1761577448.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229335,-0.962390,-0.145643],[0.972605,0.220735,0.072915],[-0.038024,-0.158375,0.986647]]
2025-10-27T15:04:08.861Z,1761577448.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.76 m.
2025-10-27T15:04:08.864Z,1761577448.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.764923 m,
      nav range: 409.877228 m,
      bearing: 77.324856 deg,
      approach rate: -0.703405 m/s,
      LOS rate: 0.003321 deg/s,
      cmd heading: 77.772202 deg,
      new cmd heading: 77.775872 deg.

2025-10-27T15:04:08.865Z,1761577448.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357445 target range: 405.764923 and range: 407.70 m.
2025-10-27T15:04:08.980Z,1761577448.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006840
2025-10-27T15:04:09.235Z,1761577449.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261358
2025-10-27T15:04:09.265Z,1761577449.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228635,-0.962754,-0.144329],[0.972708,0.219895,0.074063],[-0.039568,-0.157323,0.986754]]
2025-10-27T15:04:09.319Z,1761577449.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.76 m.
2025-10-27T15:04:09.337Z,1761577449.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.764923 m,
      nav range: 409.541748 m,
      bearing: 77.325846 deg,
      approach rate: -0.732868 m/s,
      LOS rate: 0.002163 deg/s,
      cmd heading: 77.775870 deg,
      new cmd heading: 77.778840 deg.

2025-10-27T15:04:09.338Z,1761577449.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357497 target range: 405.764923 and range: 407.70 m.
2025-10-27T15:04:09.484Z,1761577449.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510918
2025-10-27T15:04:09.668Z,1761577449.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228769,-0.962684,-0.144581],[0.972578,0.219628,0.076517],[-0.041908,-0.158121,0.986530]]
2025-10-27T15:04:09.688Z,1761577449.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.76 m.
2025-10-27T15:04:09.691Z,1761577449.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.764923 m,
      nav range: 409.272644 m,
      bearing: 77.326646 deg,
      approach rate: -0.727727 m/s,
      LOS rate: 0.002165 deg/s,
      cmd heading: 77.778841 deg,
      new cmd heading: 77.781243 deg.

2025-10-27T15:04:09.692Z,1761577449.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357539 target range: 405.764923 and range: 407.70 m.
2025-10-27T15:04:09.737Z,1761577449.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763328
2025-10-27T15:04:09.988Z,1761577449.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014697
2025-10-27T15:04:10.070Z,1761577450.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228365,-0.963200,-0.141759],[0.972571,0.219084,0.078153],[-0.044220,-0.155718,0.986811]]
2025-10-27T15:04:10.120Z,1761577450.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.76 m.
2025-10-27T15:04:10.123Z,1761577450.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.764923 m,
      nav range: 408.977539 m,
      bearing: 77.327511 deg,
      approach rate: -0.683618 m/s,
      LOS rate: 0.002005 deg/s,
      cmd heading: 77.781245 deg,
      new cmd heading: 77.783841 deg.

2025-10-27T15:04:10.128Z,1761577450.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357584 target range: 405.764923 and range: 407.70 m.
2025-10-27T15:04:10.243Z,1761577450.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268961
2025-10-27T15:04:10.474Z,1761577450.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227041,-0.963628,-0.140971],[0.972808,0.217595,0.079352],[-0.045792,-0.155154,0.986828]]
2025-10-27T15:04:10.492Z,1761577450.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518718
2025-10-27T15:04:10.534Z,1761577450.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:10.537Z,1761577450.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.76 m.
2025-10-27T15:04:10.556Z,1761577450.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.764923 m,
      nav range: 408.633301 m,
      bearing: 77.327268 deg,
      approach rate: -0.825953 m/s,
      LOS rate: -0.000584 deg/s,
      cmd heading: 77.783840 deg,
      new cmd heading: 77.783110 deg.

2025-10-27T15:04:10.557Z,1761577450.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357571 target range: 405.764923 and range: 407.70 m.
2025-10-27T15:04:10.745Z,1761577450.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771730
2025-10-27T15:04:10.925Z,1761577450.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226238,-0.963883,-0.140521],[0.972926,0.216614,0.080574],[-0.047225,-0.154945,0.986794]]
2025-10-27T15:04:10.968Z,1761577450.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.76 m.
2025-10-27T15:04:10.970Z,1761577450.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.764923 m,
      nav range: 408.318146 m,
      bearing: 77.327009 deg,
      approach rate: -0.731184 m/s,
      LOS rate: -0.000601 deg/s,
      cmd heading: 77.783110 deg,
      new cmd heading: 77.782332 deg.

2025-10-27T15:04:10.972Z,1761577450.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357558 target range: 405.764923 and range: 407.70 m.
2025-10-27T15:04:10.996Z,1761577450.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022915
2025-10-27T15:04:11.251Z,1761577451.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277383
2025-10-27T15:04:11.407Z,1761577451.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.76 m.
2025-10-27T15:04:11.410Z,1761577451.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.764923 m,
      nav range: 407.953094 m,
      bearing: 77.326447 deg,
      approach rate: -0.831851 m/s,
      LOS rate: -0.001282 deg/s,
      cmd heading: 77.782331 deg,
      new cmd heading: 77.780644 deg.

2025-10-27T15:04:11.411Z,1761577451.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357528 target range: 405.764923 and range: 407.70 m.
2025-10-27T15:04:11.500Z,1761577451.500 [DAT](INFO): DAT read: Rx Time:15:04:09.9812

2025-10-27T15:04:11.500Z,1761577451.500 [DAT](INFO): Rx dataTimestamp_ set to:1761577451.500209
2025-10-27T15:04:11.501Z,1761577451.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527883
2025-10-27T15:04:11.736Z,1761577451.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223681,-0.964961,-0.137175],[0.973376,0.213933,0.082292],[-0.050062,-0.151930,0.987123]]
2025-10-27T15:04:11.755Z,1761577451.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779494
2025-10-27T15:04:11.781Z,1761577451.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.76 m.
2025-10-27T15:04:11.784Z,1761577451.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.764923 m,
      nav range: 407.657990 m,
      bearing: 77.325882 deg,
      approach rate: -0.787493 m/s,
      LOS rate: -0.001508 deg/s,
      cmd heading: 77.780644 deg,
      new cmd heading: 77.778949 deg.

2025-10-27T15:04:11.785Z,1761577451.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357499 target range: 405.764923 and range: 407.70 m.
2025-10-27T15:04:12.011Z,1761577452.011 [DAT](INFO): DAT read: 15:04:09.9812 LVL= 26096, 31041, 27762, 28867, AGC= 69, IDX=  27,-0.43,-1.650, 2.964,-1.461,-2.141, PHS= 0.593,-1.134, 0.636, RAW= 151.2,  -1.1, CAL= 150.2,  -1.9, ROT= 359.8,   1.9

2025-10-27T15:04:12.012Z,1761577452.012 [DAT](INFO): got valid direction response:
 15:04:09.9812 LVL= 26096, 31041, 27762, 28867, AGC= 69, IDX=  27,-0.43,-1.650, 2.964,-1.461,-2.141, PHS= 0.593,-1.134, 0.636, RAW= 151.2,  -1.1, CAL= 150.2,  -1.9, ROT= 359.8,   1.9

2025-10-27T15:04:12.013Z,1761577452.013 [DAT](INFO): DAT read: Bearing 212.5,  -2.7 (Local)

2025-10-27T15:04:12.014Z,1761577452.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.5,  -2.7 (Local)

2025-10-27T15:04:12.015Z,1761577452.015 [DAT](INFO): DAT read: Range 11 to 50 : 414.7 m  (Round-trip  553.0 ms) speed  0.7 m/s

2025-10-27T15:04:12.016Z,1761577452.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:12.017Z,1761577452.017 [DAT](INFO): direction in FSK: [0.999444,-0.003489,-0.033155]
2025-10-27T15:04:12.017Z,1761577452.017 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:12.020Z,1761577452.020 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:12.020Z,1761577452.020 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:12.021Z,1761577452.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:12.143Z,1761577452.143 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:04:12.144Z,1761577452.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222175,-0.965494,-0.135864],[0.973652,0.212359,0.083096],[-0.051377,-0.150746,0.987236]]
2025-10-27T15:04:12.203Z,1761577452.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 414.700012 m,
      deltaT: 4.283564 s,
      deltaX: 7.000000 m,
      approachRate: 1.634153 m/s,
      rangeRepo size: 4

2025-10-27T15:04:12.217Z,1761577452.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 412.734314 m,
      bearing: 76.659887 deg,
      lat: 36.779042 deg,
      lon: -121.859203 deg,
      deltaT: 4.283564 s,
      deltaX: 6.969391 m,
      approachRate: 1.627007 m/s,
      posRepo size: 4

2025-10-27T15:04:12.217Z,1761577452.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.73 m.
2025-10-27T15:04:12.231Z,1761577452.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.734314 m,
      nav range: 408.593323 m,
      bearing: 76.568830 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001508 deg/s,
      cmd heading: 77.778950 deg,
      new cmd heading: 77.777048 deg.

2025-10-27T15:04:12.239Z,1761577452.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357466 target range: 412.734314 and range: 414.70 m.
2025-10-27T15:04:12.258Z,1761577452.258 [DAT](INFO): DAT read: user:894>

2025-10-27T15:04:12.261Z,1761577452.261 [DAT](INFO): DAT read: Tx time:15:04:11.2741

2025-10-27T15:04:12.262Z,1761577452.262 [DAT](INFO): Ping request sent.
2025-10-27T15:04:12.262Z,1761577452.262 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:12.264Z,1761577452.264 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:12.266Z,1761577452.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003112
2025-10-27T15:04:12.508Z,1761577452.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245986
2025-10-27T15:04:12.593Z,1761577452.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221153,-0.965879,-0.134793],[0.973799,0.211197,0.084330],[-0.052985,-0.149911,0.987279]]
2025-10-27T15:04:12.642Z,1761577452.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:12.644Z,1761577452.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.73 m.
2025-10-27T15:04:12.663Z,1761577452.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.734314 m,
      nav range: 408.235565 m,
      bearing: 76.567440 deg,
      approach rate: -0.809278 m/s,
      LOS rate: -0.003148 deg/s,
      cmd heading: 77.777044 deg,
      new cmd heading: 77.772869 deg.

2025-10-27T15:04:12.664Z,1761577452.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357393 target range: 412.734314 and range: 414.70 m.
2025-10-27T15:04:12.760Z,1761577452.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497952
2025-10-27T15:04:13.007Z,1761577453.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220085,-0.966241,-0.133946],[0.973955,0.209983,0.085544],[-0.054530,-0.149284,0.987290]]
2025-10-27T15:04:13.012Z,1761577453.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749995
2025-10-27T15:04:13.026Z,1761577453.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.73 m.
2025-10-27T15:04:13.029Z,1761577453.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.734314 m,
      nav range: 407.940277 m,
      bearing: 76.566245 deg,
      approach rate: -0.772088 m/s,
      LOS rate: -0.003127 deg/s,
      cmd heading: 77.772871 deg,
      new cmd heading: 77.769284 deg.

2025-10-27T15:04:13.030Z,1761577453.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357330 target range: 412.734314 and range: 414.70 m.
2025-10-27T15:04:13.148Z,1761577453.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:04:13.267Z,1761577453.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004277
2025-10-27T15:04:13.410Z,1761577453.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219204,-0.966573,-0.132992],[0.974066,0.208965,0.086769],[-0.056078,-0.148564,0.987312]]
2025-10-27T15:04:13.461Z,1761577453.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.73 m.
2025-10-27T15:04:13.464Z,1761577453.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.734314 m,
      nav range: 407.617157 m,
      bearing: 76.565396 deg,
      approach rate: -0.743865 m/s,
      LOS rate: -0.001956 deg/s,
      cmd heading: 77.769285 deg,
      new cmd heading: 77.766737 deg.

2025-10-27T15:04:13.465Z,1761577453.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357286 target range: 412.734314 and range: 414.70 m.
2025-10-27T15:04:13.516Z,1761577453.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254051
2025-10-27T15:04:13.768Z,1761577453.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505842
2025-10-27T15:04:13.895Z,1761577453.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218678,-0.966654,-0.133264],[0.974102,0.208208,0.088170],[-0.057484,-0.149093,0.987151]]
2025-10-27T15:04:13.925Z,1761577453.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.73 m.
2025-10-27T15:04:13.928Z,1761577453.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.734314 m,
      nav range: 407.270996 m,
      bearing: 76.564461 deg,
      approach rate: -0.746442 m/s,
      LOS rate: -0.002019 deg/s,
      cmd heading: 77.766738 deg,
      new cmd heading: 77.763929 deg.

2025-10-27T15:04:13.929Z,1761577453.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357237 target range: 412.734314 and range: 414.70 m.
2025-10-27T15:04:14.020Z,1761577454.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758001
2025-10-27T15:04:14.275Z,1761577454.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012116
2025-10-27T15:04:14.411Z,1761577454.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.73 m.
2025-10-27T15:04:14.414Z,1761577454.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.734314 m,
      nav range: 406.921844 m,
      bearing: 76.564327 deg,
      approach rate: -0.718304 m/s,
      LOS rate: -0.000274 deg/s,
      cmd heading: 77.763930 deg,
      new cmd heading: 77.763531 deg.

2025-10-27T15:04:14.415Z,1761577454.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357230 target range: 412.734314 and range: 414.70 m.
2025-10-27T15:04:14.524Z,1761577454.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261916
2025-10-27T15:04:14.777Z,1761577454.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514399
2025-10-27T15:04:14.859Z,1761577454.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218964,-0.966067,-0.136999],[0.973783,0.207490,0.093241],[-0.061651,-0.153823,0.986173]]
2025-10-27T15:04:14.876Z,1761577454.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:14.878Z,1761577454.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.73 m.
2025-10-27T15:04:14.881Z,1761577454.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.734314 m,
      nav range: 406.586700 m,
      bearing: 76.564224 deg,
      approach rate: -0.717501 m/s,
      LOS rate: -0.000221 deg/s,
      cmd heading: 77.763527 deg,
      new cmd heading: 77.763217 deg.

2025-10-27T15:04:14.882Z,1761577454.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357224 target range: 412.734314 and range: 414.70 m.
2025-10-27T15:04:15.028Z,1761577455.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765867
2025-10-27T15:04:15.258Z,1761577455.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219480,-0.965790,-0.138121],[0.973569,0.207644,0.095118],[-0.063184,-0.155347,0.985837]]
2025-10-27T15:04:15.291Z,1761577455.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028401
2025-10-27T15:04:15.302Z,1761577455.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.73 m.
2025-10-27T15:04:15.321Z,1761577455.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.734314 m,
      nav range: 406.300537 m,
      bearing: 76.564160 deg,
      approach rate: -0.677194 m/s,
      LOS rate: -0.000151 deg/s,
      cmd heading: 77.763220 deg,
      new cmd heading: 77.763028 deg.

2025-10-27T15:04:15.335Z,1761577455.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357221 target range: 412.734314 and range: 414.70 m.
2025-10-27T15:04:15.540Z,1761577455.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277913
2025-10-27T15:04:15.662Z,1761577455.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219811,-0.965520,-0.139480],[0.973423,0.207659,0.096570],[-0.064276,-0.157000,0.985505]]
2025-10-27T15:04:15.724Z,1761577455.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.73 m.
2025-10-27T15:04:15.730Z,1761577455.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.734314 m,
      nav range: 406.008057 m,
      bearing: 76.564684 deg,
      approach rate: -0.690221 m/s,
      LOS rate: 0.001236 deg/s,
      cmd heading: 77.763029 deg,
      new cmd heading: 77.764600 deg.

2025-10-27T15:04:15.731Z,1761577455.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357248 target range: 412.734314 and range: 414.70 m.
2025-10-27T15:04:15.792Z,1761577455.792 [DAT](INFO): DAT read: Rx Time:15:04:14.2279

2025-10-27T15:04:15.793Z,1761577455.793 [DAT](INFO): Rx dataTimestamp_ set to:1761577455.792359
2025-10-27T15:04:15.793Z,1761577455.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531189
2025-10-27T15:04:16.045Z,1761577456.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782737
2025-10-27T15:04:16.145Z,1761577456.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220152,-0.965603,-0.138363],[0.973275,0.207936,0.097463],[-0.065340,-0.156122,0.985574]]
2025-10-27T15:04:16.168Z,1761577456.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.73 m.
2025-10-27T15:04:16.170Z,1761577456.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.734314 m,
      nav range: 405.684448 m,
      bearing: 76.565280 deg,
      approach rate: -0.729324 m/s,
      LOS rate: 0.001345 deg/s,
      cmd heading: 77.764600 deg,
      new cmd heading: 77.766390 deg.

2025-10-27T15:04:16.172Z,1761577456.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357280 target range: 412.734314 and range: 414.70 m.
2025-10-27T15:04:16.316Z,1761577456.316 [DAT](INFO): DAT read: 15:04:14.2279 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 240, 0.33,-2.656, 2.061,-2.315,-2.707, PHS= 0.152,-1.470, 0.347, RAW= 155.6,  11.2, CAL= 155.6,  12.4, ROT= 354.4, -12.4

2025-10-27T15:04:16.321Z,1761577456.321 [DAT](INFO): got valid direction response:
 15:04:14.2279 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 240, 0.33,-2.656, 2.061,-2.315,-2.707, PHS= 0.152,-1.470, 0.347, RAW= 155.6,  11.2, CAL= 155.6,  12.4, ROT= 354.4, -12.4

2025-10-27T15:04:16.324Z,1761577456.324 [DAT](INFO): DAT read: Bearing 225.3, -11.1 (Local)

2025-10-27T15:04:16.326Z,1761577456.326 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.3, -11.1 (Local)

2025-10-27T15:04:16.330Z,1761577456.330 [DAT](INFO): DAT read: Range 11 to 50 : 412.2 m  (Round-trip  549.7 ms) speed  0.1 m/s

2025-10-27T15:04:16.345Z,1761577456.345 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:16.352Z,1761577456.352 [DAT](INFO): direction in FSK: [0.972011,-0.095307,0.214735]
2025-10-27T15:04:16.352Z,1761577456.352 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:16.359Z,1761577456.359 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:16.360Z,1761577456.360 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:16.360Z,1761577456.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:16.526Z,1761577456.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220607,-0.965957,-0.135127],[0.973105,0.208553,0.097833],[-0.066321,-0.153076,0.985986]]
2025-10-27T15:04:16.548Z,1761577456.548 [DAT](INFO): DAT read: user:895>

2025-10-27T15:04:16.548Z,1761577456.548 [DAT](INFO): DAT read: Tx time:15:04:15.6241

2025-10-27T15:04:16.549Z,1761577456.549 [DAT](INFO): Ping request sent.
2025-10-27T15:04:16.549Z,1761577456.549 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:16.549Z,1761577456.549 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:16.550Z,1761577456.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-10-27T15:04:16.636Z,1761577456.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 412.200012 m,
      deltaT: 4.293500 s,
      deltaX: -2.500000 m,
      approachRate: -0.582276 m/s,
      rangeRepo size: 4

2025-10-27T15:04:16.641Z,1761577456.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 410.253296 m,
      bearing: 73.669065 deg,
      lat: 36.779066 deg,
      lon: -121.859267 deg,
      deltaT: 4.293500 s,
      deltaX: -2.481018 m,
      approachRate: -0.577854 m/s,
      posRepo size: 4

2025-10-27T15:04:16.642Z,1761577456.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.25 m.
2025-10-27T15:04:16.644Z,1761577456.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.253296 m,
      nav range: 400.485718 m,
      bearing: 75.996289 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001345 deg/s,
      cmd heading: 77.766389 deg,
      new cmd heading: 77.768242 deg.

2025-10-27T15:04:16.645Z,1761577456.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357312 target range: 410.253296 and range: 412.20 m.
2025-10-27T15:04:16.800Z,1761577456.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251300
2025-10-27T15:04:16.955Z,1761577456.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221212,-0.966183,-0.132494],[0.972896,0.209253,0.098422],[-0.067369,-0.150675,0.986285]]
2025-10-27T15:04:16.973Z,1761577456.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:16.976Z,1761577456.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.25 m.
2025-10-27T15:04:16.978Z,1761577456.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.253296 m,
      nav range: 400.234100 m,
      bearing: 75.996690 deg,
      approach rate: -0.722702 m/s,
      LOS rate: 0.001153 deg/s,
      cmd heading: 77.768240 deg,
      new cmd heading: 77.769445 deg.

2025-10-27T15:04:16.980Z,1761577456.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357333 target range: 410.253296 and range: 412.20 m.
2025-10-27T15:04:17.053Z,1761577457.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503859
2025-10-27T15:04:17.304Z,1761577457.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754896
2025-10-27T15:04:17.386Z,1761577457.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221612,-0.966510,-0.129413],[0.972738,0.209811,0.098796],[-0.068335,-0.147779,0.986657]]
2025-10-27T15:04:17.444Z,1761577457.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.25 m.
2025-10-27T15:04:17.451Z,1761577457.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.253296 m,
      nav range: 399.936676 m,
      bearing: 75.998263 deg,
      approach rate: -0.634205 m/s,
      LOS rate: 0.003357 deg/s,
      cmd heading: 77.769442 deg,
      new cmd heading: 77.774166 deg.

2025-10-27T15:04:17.452Z,1761577457.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357415 target range: 410.253296 and range: 412.20 m.
2025-10-27T15:04:17.556Z,1761577457.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007545
2025-10-27T15:04:17.780Z,1761577457.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221859,-0.966718,-0.127413],[0.972587,0.210058,0.099755],[-0.069671,-0.146052,0.986820]]
2025-10-27T15:04:17.797Z,1761577457.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.25 m.
2025-10-27T15:04:17.800Z,1761577457.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.253296 m,
      nav range: 399.689301 m,
      bearing: 75.999585 deg,
      approach rate: -0.700211 m/s,
      LOS rate: 0.003744 deg/s,
      cmd heading: 77.774169 deg,
      new cmd heading: 77.778136 deg.

2025-10-27T15:04:17.801Z,1761577457.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357485 target range: 410.253296 and range: 412.20 m.
2025-10-27T15:04:17.816Z,1761577457.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267169
2025-10-27T15:04:18.069Z,1761577458.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520254
2025-10-27T15:04:18.180Z,1761577458.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222583,-0.966506,-0.127759],[0.972337,0.210557,0.101129],[-0.070841,-0.146734,0.986636]]
2025-10-27T15:04:18.210Z,1761577458.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.25 m.
2025-10-27T15:04:18.213Z,1761577458.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.253296 m,
      nav range: 399.423828 m,
      bearing: 76.001034 deg,
      approach rate: -0.643527 m/s,
      LOS rate: 0.003515 deg/s,
      cmd heading: 77.778137 deg,
      new cmd heading: 77.782487 deg.

2025-10-27T15:04:18.214Z,1761577458.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357561 target range: 410.253296 and range: 412.20 m.
2025-10-27T15:04:18.325Z,1761577458.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775180
2025-10-27T15:04:18.573Z,1761577458.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023760
2025-10-27T15:04:18.654Z,1761577458.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.25 m.
2025-10-27T15:04:18.657Z,1761577458.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.253296 m,
      nav range: 399.120575 m,
      bearing: 76.002101 deg,
      approach rate: -0.683541 m/s,
      LOS rate: 0.002407 deg/s,
      cmd heading: 77.782488 deg,
      new cmd heading: 77.785692 deg.

2025-10-27T15:04:18.658Z,1761577458.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357616 target range: 410.253296 and range: 412.20 m.
2025-10-27T15:04:18.824Z,1761577458.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275010
2025-10-27T15:04:18.988Z,1761577458.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223731,-0.966059,-0.129126],[0.971970,0.211330,0.103019],[-0.072235,-0.148555,0.986262]]
2025-10-27T15:04:19.014Z,1761577459.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:19.017Z,1761577459.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.25 m.
2025-10-27T15:04:19.020Z,1761577459.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.253296 m,
      nav range: 398.881317 m,
      bearing: 76.002984 deg,
      approach rate: -0.658866 m/s,
      LOS rate: 0.002432 deg/s,
      cmd heading: 77.785691 deg,
      new cmd heading: 77.788340 deg.

2025-10-27T15:04:19.021Z,1761577459.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357663 target range: 410.253296 and range: 412.20 m.
2025-10-27T15:04:19.078Z,1761577459.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528939
2025-10-27T15:04:19.331Z,1761577459.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781501
2025-10-27T15:04:19.419Z,1761577459.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224335,-0.965941,-0.128965],[0.971768,0.211811,0.103943],[-0.073087,-0.148642,0.986187]]
2025-10-27T15:04:19.455Z,1761577459.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.25 m.
2025-10-27T15:04:19.458Z,1761577459.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.253296 m,
      nav range: 398.568115 m,
      bearing: 76.003999 deg,
      approach rate: -0.714517 m/s,
      LOS rate: 0.002319 deg/s,
      cmd heading: 77.788341 deg,
      new cmd heading: 77.791391 deg.

2025-10-27T15:04:19.475Z,1761577459.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357716 target range: 410.253296 and range: 412.20 m.
2025-10-27T15:04:19.581Z,1761577459.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031670
2025-10-27T15:04:19.806Z,1761577459.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224500,-0.966205,-0.126675],[0.971700,0.212161,0.103859],[-0.073473,-0.146406,0.986492]]
2025-10-27T15:04:19.824Z,1761577459.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.25 m.
2025-10-27T15:04:19.827Z,1761577459.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.253296 m,
      nav range: 398.306671 m,
      bearing: 76.004858 deg,
      approach rate: -0.708022 m/s,
      LOS rate: 0.002326 deg/s,
      cmd heading: 77.791395 deg,
      new cmd heading: 77.793971 deg.

2025-10-27T15:04:19.828Z,1761577459.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357761 target range: 410.253296 and range: 412.20 m.
2025-10-27T15:04:19.832Z,1761577459.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283104
2025-10-27T15:04:20.085Z,1761577460.085 [DAT](INFO): DAT read: Rx Time:15:04:18.5736

2025-10-27T15:04:20.086Z,1761577460.086 [DAT](INFO): Rx dataTimestamp_ set to:1761577460.085152
2025-10-27T15:04:20.086Z,1761577460.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537370
2025-10-27T15:04:20.199Z,1761577460.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224522,-0.966242,-0.126358],[0.971657,0.212140,0.104301],[-0.073975,-0.146195,0.986486]]
2025-10-27T15:04:20.224Z,1761577460.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.25 m.
2025-10-27T15:04:20.226Z,1761577460.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.253296 m,
      nav range: 398.024445 m,
      bearing: 76.005787 deg,
      approach rate: -0.706506 m/s,
      LOS rate: 0.002328 deg/s,
      cmd heading: 77.793970 deg,
      new cmd heading: 77.796759 deg.

2025-10-27T15:04:20.268Z,1761577460.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357810 target range: 410.253296 and range: 412.20 m.
2025-10-27T15:04:20.336Z,1761577460.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787245
2025-10-27T15:04:20.597Z,1761577460.597 [DAT](INFO): DAT read: 15:04:18.5736 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 234, 0.44, 0.187,-1.413, 0.587, 0.212, PHS= 0.077,-1.580, 0.331, RAW= 157.0,  13.0, CAL= 157.4,  14.7, ROT= 352.6, -14.7

2025-10-27T15:04:20.598Z,1761577460.598 [DAT](INFO): got valid direction response:
 15:04:18.5736 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 234, 0.44, 0.187,-1.413, 0.587, 0.212, PHS= 0.077,-1.580, 0.331, RAW= 157.0,  13.0, CAL= 157.4,  14.7, ROT= 352.6, -14.7

2025-10-27T15:04:20.599Z,1761577460.599 [DAT](INFO): DAT read: Bearing 227.7, -13.3 (Local)

2025-10-27T15:04:20.599Z,1761577460.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.7, -13.3 (Local)

2025-10-27T15:04:20.601Z,1761577460.601 [DAT](INFO): DAT read: Range 11 to 50 : 409.0 m  (Round-trip  545.4 ms) speed  1.2 m/s

2025-10-27T15:04:20.601Z,1761577460.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:20.602Z,1761577460.602 [DAT](INFO): direction in FSK: [0.959212,-0.124580,0.253758]
2025-10-27T15:04:20.603Z,1761577460.603 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:20.636Z,1761577460.636 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:20.636Z,1761577460.636 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:20.636Z,1761577460.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:20.684Z,1761577460.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224402,-0.965982,-0.128540],[0.971687,0.211791,0.104729],[-0.073943,-0.148402,0.986159]]
2025-10-27T15:04:20.802Z,1761577460.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 409.000000 m,
      deltaT: 4.290928 s,
      deltaX: -3.200012 m,
      approachRate: -0.745762 m/s,
      rangeRepo size: 4

2025-10-27T15:04:20.809Z,1761577460.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 407.067657 m,
      bearing: 71.996237 deg,
      lat: 36.779066 deg,
      lon: -121.859268 deg,
      deltaT: 4.290928 s,
      deltaX: -3.185638 m,
      approachRate: -0.742412 m/s,
      posRepo size: 4

2025-10-27T15:04:20.810Z,1761577460.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:20.817Z,1761577460.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 397.539276 m,
      bearing: 76.004675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002328 deg/s,
      cmd heading: 77.796756 deg,
      new cmd heading: 77.800791 deg.

2025-10-27T15:04:20.818Z,1761577460.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357880 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:20.840Z,1761577460.840 [DAT](INFO): DAT read: user:896>

2025-10-27T15:04:20.841Z,1761577460.841 [DAT](INFO): DAT read: Tx time:15:04:19.9241

2025-10-27T15:04:20.841Z,1761577460.841 [DAT](INFO): Ping request sent.
2025-10-27T15:04:20.841Z,1761577460.841 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:20.841Z,1761577460.841 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:20.842Z,1761577460.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-27T15:04:21.092Z,1761577461.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250850
2025-10-27T15:04:21.134Z,1761577461.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224036,-0.965315,-0.134071],[0.971778,0.210841,0.105804],[-0.073866,-0.153991,0.985307]]
2025-10-27T15:04:21.150Z,1761577461.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:21.153Z,1761577461.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:21.156Z,1761577461.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 397.263153 m,
      bearing: 76.005727 deg,
      approach rate: -0.786169 m/s,
      LOS rate: 0.002996 deg/s,
      cmd heading: 77.800793 deg,
      new cmd heading: 77.803949 deg.

2025-10-27T15:04:21.157Z,1761577461.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357935 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:21.344Z,1761577461.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502795
2025-10-27T15:04:21.537Z,1761577461.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223625,-0.965041,-0.136706],[0.971894,0.210195,0.106015],[-0.073574,-0.156572,0.984922]]
2025-10-27T15:04:21.598Z,1761577461.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757091
2025-10-27T15:04:21.622Z,1761577461.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:21.629Z,1761577461.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 396.911316 m,
      bearing: 76.005984 deg,
      approach rate: -0.749622 m/s,
      LOS rate: 0.000549 deg/s,
      cmd heading: 77.803948 deg,
      new cmd heading: 77.804721 deg.

2025-10-27T15:04:21.630Z,1761577461.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357949 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:21.848Z,1761577461.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006640
2025-10-27T15:04:21.953Z,1761577461.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222521,-0.965312,-0.136589],[0.972172,0.209175,0.105490],[-0.073260,-0.156262,0.984995]]
2025-10-27T15:04:21.970Z,1761577461.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:21.973Z,1761577461.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 396.639343 m,
      bearing: 76.006139 deg,
      approach rate: -0.780741 m/s,
      LOS rate: 0.000444 deg/s,
      cmd heading: 77.804720 deg,
      new cmd heading: 77.805184 deg.

2025-10-27T15:04:21.974Z,1761577461.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357957 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:22.100Z,1761577462.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258699
2025-10-27T15:04:22.352Z,1761577462.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510728
2025-10-27T15:04:22.355Z,1761577462.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220980,-0.965885,-0.135031],[0.972560,0.207912,0.104397],[-0.072761,-0.154395,0.985326]]
2025-10-27T15:04:22.444Z,1761577462.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:22.446Z,1761577462.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 396.328888 m,
      bearing: 76.006244 deg,
      approach rate: -0.655778 m/s,
      LOS rate: 0.000223 deg/s,
      cmd heading: 77.805185 deg,
      new cmd heading: 77.805501 deg.

2025-10-27T15:04:22.448Z,1761577462.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357962 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:22.604Z,1761577462.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762575
2025-10-27T15:04:22.762Z,1761577462.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219263,-0.966517,-0.133297],[0.972979,0.206476,0.103343],[-0.072360,-0.152354,0.985673]]
2025-10-27T15:04:22.815Z,1761577462.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:22.817Z,1761577462.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 396.001862 m,
      bearing: 76.006956 deg,
      approach rate: -0.882036 m/s,
      LOS rate: 0.001921 deg/s,
      cmd heading: 77.805499 deg,
      new cmd heading: 77.807636 deg.

2025-10-27T15:04:22.818Z,1761577462.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357999 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:22.856Z,1761577462.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014731
2025-10-27T15:04:23.108Z,1761577463.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267017
2025-10-27T15:04:23.170Z,1761577463.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217584,-0.967214,-0.130978],[0.973379,0.205122,0.102266],[-0.072047,-0.149743,0.986097]]
2025-10-27T15:04:23.187Z,1761577463.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:23.190Z,1761577463.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:23.192Z,1761577463.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 395.721863 m,
      bearing: 76.007496 deg,
      approach rate: -0.746620 m/s,
      LOS rate: 0.001442 deg/s,
      cmd heading: 77.807637 deg,
      new cmd heading: 77.809259 deg.

2025-10-27T15:04:23.193Z,1761577463.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358028 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:23.360Z,1761577463.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518669
2025-10-27T15:04:23.576Z,1761577463.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215978,-0.967720,-0.129891],[0.973767,0.203722,0.101366],[-0.071632,-0.148377,0.986333]]
2025-10-27T15:04:23.612Z,1761577463.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770647
2025-10-27T15:04:23.636Z,1761577463.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:23.639Z,1761577463.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 395.381958 m,
      bearing: 76.007651 deg,
      approach rate: -0.761364 m/s,
      LOS rate: 0.000347 deg/s,
      cmd heading: 77.809255 deg,
      new cmd heading: 77.809721 deg.

2025-10-27T15:04:23.640Z,1761577463.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358036 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:23.865Z,1761577463.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023725
2025-10-27T15:04:23.970Z,1761577463.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214133,-0.968489,-0.127189],[0.974212,0.202267,0.099992],[-0.071115,-0.145321,0.986826]]
2025-10-27T15:04:24.005Z,1761577464.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:24.008Z,1761577464.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 395.104004 m,
      bearing: 76.007700 deg,
      approach rate: -0.753033 m/s,
      LOS rate: 0.000134 deg/s,
      cmd heading: 77.809720 deg,
      new cmd heading: 77.809868 deg.

2025-10-27T15:04:24.009Z,1761577464.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358038 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:24.116Z,1761577464.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274658
2025-10-27T15:04:24.368Z,1761577464.368 [DAT](INFO): DAT read: Rx Time:15:04:22.8694

2025-10-27T15:04:24.369Z,1761577464.369 [DAT](INFO): Rx dataTimestamp_ set to:1761577464.368484
2025-10-27T15:04:24.369Z,1761577464.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528034
2025-10-27T15:04:24.378Z,1761577464.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212492,-0.969064,-0.125546],[0.974585,0.200849,0.099221],[-0.070936,-0.143439,0.987114]]
2025-10-27T15:04:24.454Z,1761577464.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:24.473Z,1761577464.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 394.798920 m,
      bearing: 76.007679 deg,
      approach rate: -0.681303 m/s,
      LOS rate: -0.000047 deg/s,
      cmd heading: 77.809870 deg,
      new cmd heading: 77.809807 deg.

2025-10-27T15:04:24.474Z,1761577464.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358037 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:24.620Z,1761577464.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778582
2025-10-27T15:04:24.793Z,1761577464.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211410,-0.969379,-0.124944],[0.974804,0.199813,0.099153],[-0.071151,-0.142758,0.987197]]
2025-10-27T15:04:24.851Z,1761577464.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.07 m.
2025-10-27T15:04:24.853Z,1761577464.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.067657 m,
      nav range: 394.462311 m,
      bearing: 76.008376 deg,
      approach rate: -0.846502 m/s,
      LOS rate: 0.001755 deg/s,
      cmd heading: 77.809809 deg,
      new cmd heading: 77.811902 deg.

2025-10-27T15:04:24.854Z,1761577464.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358074 target range: 407.067657 and range: 409.00 m.
2025-10-27T15:04:24.877Z,1761577464.877 [DAT](INFO): DAT read: 15:04:22.8694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.04,-0.722,-2.327,-0.488,-1.214, PHS= 0.594,-1.068, 0.682, RAW= 152.6,  -2.5, CAL= 151.8,  -3.6, ROT= 358.2,   3.6

2025-10-27T15:04:24.878Z,1761577464.878 [DAT](INFO): got valid direction response:
 15:04:22.8694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.04,-0.722,-2.327,-0.488,-1.214, PHS= 0.594,-1.068, 0.682, RAW= 152.6,  -2.5, CAL= 151.8,  -3.6, ROT= 358.2,   3.6

2025-10-27T15:04:24.879Z,1761577464.879 [DAT](INFO): DAT read: Bearing 210.0,  -5.4 (Local)

2025-10-27T15:04:24.880Z,1761577464.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.0,  -5.4 (Local)

2025-10-27T15:04:24.881Z,1761577464.881 [DAT](INFO): DAT read: Range 11 to 50 : 405.9 m  (Round-trip  541.2 ms) speed  0.5 m/s

2025-10-27T15:04:24.882Z,1761577464.882 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:24.882Z,1761577464.882 [DAT](INFO): direction in FSK: [0.997534,-0.031349,-0.062791]
2025-10-27T15:04:24.883Z,1761577464.883 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:24.886Z,1761577464.886 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:24.886Z,1761577464.886 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:24.886Z,1761577464.886 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:25.125Z,1761577465.125 [DAT](INFO): DAT read: user:897>

2025-10-27T15:04:25.126Z,1761577465.126 [DAT](INFO): DAT read: Tx time:15:04:24.1741

2025-10-27T15:04:25.126Z,1761577465.126 [DAT](INFO): Ping request sent.
2025-10-27T15:04:25.126Z,1761577465.126 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:25.127Z,1761577465.127 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:25.128Z,1761577465.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001179
2025-10-27T15:04:25.227Z,1761577465.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208725,-0.969841,-0.125867],[0.975361,0.197034,0.099234],[-0.071441,-0.143478,0.987072]]
2025-10-27T15:04:25.250Z,1761577465.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 405.899994 m,
      deltaT: 4.283183 s,
      deltaX: -3.100006 m,
      approachRate: -0.723762 m/s,
      rangeRepo size: 4

2025-10-27T15:04:25.253Z,1761577465.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 403.980743 m,
      bearing: 75.606167 deg,
      lat: 36.779105 deg,
      lon: -121.859268 deg,
      deltaT: 4.283183 s,
      deltaX: -3.086914 m,
      approachRate: -0.720706 m/s,
      posRepo size: 4

2025-10-27T15:04:25.254Z,1761577465.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-10-27T15:04:25.256Z,1761577465.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.980743 m,
      nav range: 395.226990 m,
      bearing: 75.404193 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001755 deg/s,
      cmd heading: 77.811899 deg,
      new cmd heading: 77.813998 deg.

2025-10-27T15:04:25.257Z,1761577465.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358110 target range: 403.980743 and range: 405.90 m.
2025-10-27T15:04:25.377Z,1761577465.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898
2025-10-27T15:04:25.606Z,1761577465.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207592,-0.970109,-0.125677],[0.975571,0.195875,0.099470],[-0.071880,-0.143256,0.987072]]
2025-10-27T15:04:25.628Z,1761577465.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501856
2025-10-27T15:04:25.685Z,1761577465.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:25.704Z,1761577465.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-10-27T15:04:25.706Z,1761577465.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.980743 m,
      nav range: 394.903290 m,
      bearing: 75.403795 deg,
      approach rate: -0.712365 m/s,
      LOS rate: -0.000877 deg/s,
      cmd heading: 77.813996 deg,
      new cmd heading: 77.812800 deg.

2025-10-27T15:04:25.712Z,1761577465.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358090 target range: 403.980743 and range: 405.90 m.
2025-10-27T15:04:25.880Z,1761577465.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753941
2025-10-27T15:04:26.006Z,1761577466.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207164,-0.969975,-0.127403],[0.975635,0.195221,0.100128],[-0.072250,-0.145041,0.986784]]
2025-10-27T15:04:26.041Z,1761577466.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-10-27T15:04:26.052Z,1761577466.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.980743 m,
      nav range: 394.656250 m,
      bearing: 75.403476 deg,
      approach rate: -0.733559 m/s,
      LOS rate: -0.000947 deg/s,
      cmd heading: 77.812800 deg,
      new cmd heading: 77.811843 deg.

2025-10-27T15:04:26.055Z,1761577466.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358073 target range: 403.980743 and range: 405.90 m.
2025-10-27T15:04:26.133Z,1761577466.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007195
2025-10-27T15:04:26.384Z,1761577466.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257636
2025-10-27T15:04:26.411Z,1761577466.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206726,-0.969989,-0.128003],[0.975708,0.194689,0.100444],[-0.072508,-0.145658,0.986674]]
2025-10-27T15:04:26.505Z,1761577466.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-10-27T15:04:26.512Z,1761577466.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.980743 m,
      nav range: 394.336884 m,
      bearing: 75.403043 deg,
      approach rate: -0.687008 m/s,
      LOS rate: -0.000932 deg/s,
      cmd heading: 77.811844 deg,
      new cmd heading: 77.810544 deg.

2025-10-27T15:04:26.513Z,1761577466.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358050 target range: 403.980743 and range: 405.90 m.
2025-10-27T15:04:26.636Z,1761577466.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509615
2025-10-27T15:04:26.833Z,1761577466.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206354,-0.970037,-0.128241],[0.975766,0.194258,0.100716],[-0.072787,-0.145916,0.986616]]
2025-10-27T15:04:26.886Z,1761577466.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-10-27T15:04:26.888Z,1761577466.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761855
2025-10-27T15:04:26.893Z,1761577466.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.980743 m,
      nav range: 394.041229 m,
      bearing: 75.403007 deg,
      approach rate: -0.776599 m/s,
      LOS rate: -0.000096 deg/s,
      cmd heading: 77.810546 deg,
      new cmd heading: 77.810437 deg.

2025-10-27T15:04:26.894Z,1761577466.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358048 target range: 403.980743 and range: 405.90 m.
2025-10-27T15:04:27.140Z,1761577467.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013671
2025-10-27T15:04:27.371Z,1761577467.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-10-27T15:04:27.374Z,1761577467.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.980743 m,
      nav range: 393.678802 m,
      bearing: 75.402962 deg,
      approach rate: -0.747403 m/s,
      LOS rate: -0.000093 deg/s,
      cmd heading: 77.810437 deg,
      new cmd heading: 77.810302 deg.

2025-10-27T15:04:27.375Z,1761577467.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358046 target range: 403.980743 and range: 405.90 m.
2025-10-27T15:04:27.413Z,1761577467.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.286359
2025-10-27T15:04:27.664Z,1761577467.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537671
2025-10-27T15:04:27.750Z,1761577467.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209074,-0.968550,-0.134904],[0.975177,0.196211,0.102623],[-0.072925,-0.153011,0.985530]]
2025-10-27T15:04:27.793Z,1761577467.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:27.796Z,1761577467.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-10-27T15:04:27.798Z,1761577467.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.980743 m,
      nav range: 393.377258 m,
      bearing: 75.403502 deg,
      approach rate: -0.710109 m/s,
      LOS rate: 0.001272 deg/s,
      cmd heading: 77.810300 deg,
      new cmd heading: 77.811921 deg.

2025-10-27T15:04:27.800Z,1761577467.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358074 target range: 403.980743 and range: 405.90 m.
2025-10-27T15:04:27.916Z,1761577467.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.789599
2025-10-27T15:04:28.168Z,1761577468.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.041718
2025-10-27T15:04:28.208Z,1761577468.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210694,-0.967932,-0.136809],[0.974835,0.197612,0.103186],[-0.072842,-0.155107,0.985209]]
2025-10-27T15:04:28.227Z,1761577468.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-10-27T15:04:28.230Z,1761577468.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.980743 m,
      nav range: 393.070068 m,
      bearing: 75.404128 deg,
      approach rate: -0.712951 m/s,
      LOS rate: 0.001454 deg/s,
      cmd heading: 77.811919 deg,
      new cmd heading: 77.813799 deg.

2025-10-27T15:04:28.231Z,1761577468.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358107 target range: 403.980743 and range: 405.90 m.
2025-10-27T15:04:28.423Z,1761577468.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.296026
2025-10-27T15:04:28.610Z,1761577468.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212912,-0.966931,-0.140402],[0.974350,0.199398,0.104322],[-0.072877,-0.159013,0.984583]]
2025-10-27T15:04:28.663Z,1761577468.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-10-27T15:04:28.666Z,1761577468.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.980743 m,
      nav range: 392.770630 m,
      bearing: 75.405758 deg,
      approach rate: -0.686463 m/s,
      LOS rate: 0.003740 deg/s,
      cmd heading: 77.813798 deg,
      new cmd heading: 77.818692 deg.

2025-10-27T15:04:28.667Z,1761577468.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358192 target range: 403.980743 and range: 405.90 m.
2025-10-27T15:04:28.672Z,1761577468.672 [DAT](INFO): DAT read: Rx Time:15:04:27.1156

2025-10-27T15:04:28.673Z,1761577468.673 [DAT](INFO): Rx dataTimestamp_ set to:1761577468.672235
2025-10-27T15:04:28.673Z,1761577468.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546843
2025-10-27T15:04:28.924Z,1761577468.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.797653
2025-10-27T15:04:29.037Z,1761577469.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215053,-0.966108,-0.142786],[0.973891,0.201263,0.105026],[-0.072729,-0.161644,0.984165]]
2025-10-27T15:04:29.089Z,1761577469.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-10-27T15:04:29.096Z,1761577469.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.980743 m,
      nav range: 392.498352 m,
      bearing: 75.407330 deg,
      approach rate: -0.639087 m/s,
      LOS rate: 0.003692 deg/s,
      cmd heading: 77.818695 deg,
      new cmd heading: 77.823414 deg.

2025-10-27T15:04:29.097Z,1761577469.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358275 target range: 403.980743 and range: 405.90 m.
2025-10-27T15:04:29.181Z,1761577469.181 [DAT](INFO): DAT read: 15:04:27.1156 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 395, 0.17,-3.025, 1.750,-2.869, 2.860, PHS= 0.500,-1.065, 0.510, RAW= 150.3,   0.7, CAL= 149.2,   0.2, ROT=   0.8,  -0.2

2025-10-27T15:04:29.182Z,1761577469.182 [DAT](INFO): got valid direction response:
 15:04:27.1156 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 395, 0.17,-3.025, 1.750,-2.869, 2.860, PHS= 0.500,-1.065, 0.510, RAW= 150.3,   0.7, CAL= 149.2,   0.2, ROT=   0.8,  -0.2

2025-10-27T15:04:29.188Z,1761577469.188 [DAT](INFO): DAT read: Bearing 214.2,  -3.6 (Local)

2025-10-27T15:04:29.189Z,1761577469.189 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.2,  -3.6 (Local)

2025-10-27T15:04:29.190Z,1761577469.190 [DAT](INFO): DAT read: Range 11 to 50 : 403.0 m  (Round-trip  537.4 ms) speed  0.2 m/s

2025-10-27T15:04:29.200Z,1761577469.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:29.213Z,1761577469.213 [DAT](INFO): direction in FSK: [0.999896,0.013962,0.003491]
2025-10-27T15:04:29.213Z,1761577469.213 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:29.229Z,1761577469.229 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:29.229Z,1761577469.229 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:29.229Z,1761577469.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:29.418Z,1761577469.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217052,-0.965240,-0.145603],[0.973469,0.202963,0.105662],[-0.072438,-0.164674,0.983685]]
2025-10-27T15:04:29.428Z,1761577469.428 [DAT](INFO): DAT read: user:898>

2025-10-27T15:04:29.429Z,1761577469.429 [DAT](INFO): DAT read: Tx time:15:04:28.4741

2025-10-27T15:04:29.429Z,1761577469.429 [DAT](INFO): Ping request sent.
2025-10-27T15:04:29.429Z,1761577469.429 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:29.429Z,1761577469.429 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:29.430Z,1761577469.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-10-27T15:04:29.474Z,1761577469.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 403.000000 m,
      deltaT: 4.304174 s,
      deltaX: -2.899994 m,
      approachRate: -0.673763 m/s,
      rangeRepo size: 4

2025-10-27T15:04:29.485Z,1761577469.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 401.094940 m,
      bearing: 78.254651 deg,
      lat: 36.779105 deg,
      lon: -121.859206 deg,
      deltaT: 4.304174 s,
      deltaX: -2.885803 m,
      approachRate: -0.670466 m/s,
      posRepo size: 4

2025-10-27T15:04:29.486Z,1761577469.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.09 m.
2025-10-27T15:04:29.494Z,1761577469.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.094940 m,
      nav range: 397.615509 m,
      bearing: 75.611025 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003692 deg/s,
      cmd heading: 77.823414 deg,
      new cmd heading: 77.827674 deg.

2025-10-27T15:04:29.510Z,1761577469.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358349 target range: 401.094940 and range: 403.00 m.
2025-10-27T15:04:29.680Z,1761577469.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250965
2025-10-27T15:04:29.822Z,1761577469.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218714,-0.964581,-0.147473],[0.973119,0.204438,0.106039],[-0.072134,-0.166701,0.983365]]
2025-10-27T15:04:29.871Z,1761577469.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:29.873Z,1761577469.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.09 m.
2025-10-27T15:04:29.876Z,1761577469.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.094940 m,
      nav range: 397.336548 m,
      bearing: 75.612799 deg,
      approach rate: -0.698089 m/s,
      LOS rate: 0.004443 deg/s,
      cmd heading: 77.827676 deg,
      new cmd heading: 77.833002 deg.

2025-10-27T15:04:29.877Z,1761577469.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358442 target range: 401.094940 and range: 403.00 m.
2025-10-27T15:04:29.933Z,1761577469.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503752
2025-10-27T15:04:30.184Z,1761577470.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754755
2025-10-27T15:04:30.227Z,1761577470.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220528,-0.963837,-0.149619],[0.972732,0.206028,0.106516],[-0.071838,-0.169029,0.982990]]
2025-10-27T15:04:30.245Z,1761577470.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.09 m.
2025-10-27T15:04:30.248Z,1761577470.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.094940 m,
      nav range: 397.086853 m,
      bearing: 75.614455 deg,
      approach rate: -0.670880 m/s,
      LOS rate: 0.004453 deg/s,
      cmd heading: 77.833004 deg,
      new cmd heading: 77.837976 deg.

2025-10-27T15:04:30.249Z,1761577470.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358529 target range: 401.094940 and range: 403.00 m.
2025-10-27T15:04:30.438Z,1761577470.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008784
2025-10-27T15:04:30.658Z,1761577470.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221624,-0.963510,-0.150102],[0.972493,0.207072,0.106672],[-0.071698,-0.169614,0.982899]]
2025-10-27T15:04:30.688Z,1761577470.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258981
2025-10-27T15:04:30.696Z,1761577470.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.09 m.
2025-10-27T15:04:30.699Z,1761577470.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.094940 m,
      nav range: 396.783875 m,
      bearing: 75.615926 deg,
      approach rate: -0.672019 m/s,
      LOS rate: 0.003265 deg/s,
      cmd heading: 77.837976 deg,
      new cmd heading: 77.842393 deg.

2025-10-27T15:04:30.716Z,1761577470.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358606 target range: 401.094940 and range: 403.00 m.
2025-10-27T15:04:30.942Z,1761577470.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512559
2025-10-27T15:04:31.036Z,1761577471.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222336,-0.963464,-0.149345],[0.972322,0.207832,0.106755],[-0.071816,-0.168947,0.983005]]
2025-10-27T15:04:31.087Z,1761577471.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.09 m.
2025-10-27T15:04:31.090Z,1761577471.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.094940 m,
      nav range: 396.534485 m,
      bearing: 75.617166 deg,
      approach rate: -0.666400 m/s,
      LOS rate: 0.003314 deg/s,
      cmd heading: 77.842396 deg,
      new cmd heading: 77.846116 deg.

2025-10-27T15:04:31.091Z,1761577471.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358671 target range: 401.094940 and range: 403.00 m.
2025-10-27T15:04:31.193Z,1761577471.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763884
2025-10-27T15:04:31.438Z,1761577471.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222876,-0.963295,-0.149632],[0.972186,0.208300,0.107078],[-0.071980,-0.169335,0.982927]]
2025-10-27T15:04:31.444Z,1761577471.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014961
2025-10-27T15:04:31.473Z,1761577471.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.09 m.
2025-10-27T15:04:31.480Z,1761577471.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.094940 m,
      nav range: 396.268860 m,
      bearing: 75.618509 deg,
      approach rate: -0.658936 m/s,
      LOS rate: 0.003334 deg/s,
      cmd heading: 77.846118 deg,
      new cmd heading: 77.850150 deg.

2025-10-27T15:04:31.481Z,1761577471.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358741 target range: 401.094940 and range: 403.00 m.
2025-10-27T15:04:31.696Z,1761577471.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266792
2025-10-27T15:04:31.880Z,1761577471.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222851,-0.963832,-0.146167],[0.972220,0.208725,0.105936],[-0.071596,-0.165714,0.983571]]
2025-10-27T15:04:31.925Z,1761577471.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:31.927Z,1761577471.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.09 m.
2025-10-27T15:04:31.930Z,1761577471.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.094940 m,
      nav range: 395.945404 m,
      bearing: 75.620344 deg,
      approach rate: -0.712772 m/s,
      LOS rate: 0.004047 deg/s,
      cmd heading: 77.850148 deg,
      new cmd heading: 77.855657 deg.

2025-10-27T15:04:31.931Z,1761577471.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358838 target range: 401.094940 and range: 403.00 m.
2025-10-27T15:04:31.965Z,1761577471.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535607
2025-10-27T15:04:32.216Z,1761577472.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786897
2025-10-27T15:04:32.282Z,1761577472.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222595,-0.964613,-0.141325],[0.972294,0.209039,0.104625],[-0.071380,-0.160699,0.984419]]
2025-10-27T15:04:32.301Z,1761577472.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.09 m.
2025-10-27T15:04:32.304Z,1761577472.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.094940 m,
      nav range: 395.685883 m,
      bearing: 75.621815 deg,
      approach rate: -0.694850 m/s,
      LOS rate: 0.003940 deg/s,
      cmd heading: 77.855660 deg,
      new cmd heading: 77.860075 deg.

2025-10-27T15:04:32.304Z,1761577472.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358915 target range: 401.094940 and range: 403.00 m.
2025-10-27T15:04:32.468Z,1761577472.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038715
2025-10-27T15:04:32.686Z,1761577472.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222467,-0.965455,-0.135663],[0.972329,0.209535,0.103303],[-0.071308,-0.154891,0.985355]]
2025-10-27T15:04:32.724Z,1761577472.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293704
2025-10-27T15:04:32.757Z,1761577472.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.09 m.
2025-10-27T15:04:32.764Z,1761577472.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.094940 m,
      nav range: 395.371307 m,
      bearing: 75.622599 deg,
      approach rate: -0.689280 m/s,
      LOS rate: 0.001719 deg/s,
      cmd heading: 77.860072 deg,
      new cmd heading: 77.862426 deg.

2025-10-27T15:04:32.765Z,1761577472.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358956 target range: 401.094940 and range: 403.00 m.
2025-10-27T15:04:32.973Z,1761577472.973 [DAT](INFO): DAT read: Rx Time:15:04:31.4122

2025-10-27T15:04:32.974Z,1761577472.974 [DAT](INFO): Rx dataTimestamp_ set to:1761577472.973172
2025-10-27T15:04:32.974Z,1761577472.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545273
2025-10-27T15:04:33.090Z,1761577473.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222224,-0.966135,-0.131149],[0.972412,0.209836,0.101896],[-0.070925,-0.150175,0.986112]]
2025-10-27T15:04:33.126Z,1761577473.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.09 m.
2025-10-27T15:04:33.135Z,1761577473.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.094940 m,
      nav range: 395.100830 m,
      bearing: 75.623269 deg,
      approach rate: -0.733355 m/s,
      LOS rate: 0.001819 deg/s,
      cmd heading: 77.862429 deg,
      new cmd heading: 77.864441 deg.

2025-10-27T15:04:33.136Z,1761577473.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358991 target range: 401.094940 and range: 403.00 m.
2025-10-27T15:04:33.224Z,1761577473.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794914
2025-10-27T15:04:33.486Z,1761577473.486 [DAT](INFO): DAT read: 15:04:31.4122 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 408, 0.11,-0.833,-2.343,-0.645,-1.173, PHS= 0.442,-1.125, 0.484, RAW= 151.3,   2.5, CAL= 150.2,   2.2, ROT= 359.8,  -2.2

2025-10-27T15:04:33.487Z,1761577473.487 [DAT](INFO): got valid direction response:
 15:04:31.4122 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 408, 0.11,-0.833,-2.343,-0.645,-1.173, PHS= 0.442,-1.125, 0.484, RAW= 151.3,   2.5, CAL= 150.2,   2.2, ROT= 359.8,  -2.2

2025-10-27T15:04:33.488Z,1761577473.488 [DAT](INFO): DAT read: Bearing 216.2,  -4.5 (Local)

2025-10-27T15:04:33.489Z,1761577473.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.2,  -4.5 (Local)

2025-10-27T15:04:33.490Z,1761577473.490 [DAT](INFO): DAT read: Range 11 to 50 : 400.4 m  (Round-trip  533.9 ms) speed  0.8 m/s

2025-10-27T15:04:33.491Z,1761577473.491 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:33.500Z,1761577473.500 [DAT](INFO): direction in FSK: [0.999257,-0.003488,0.038388]
2025-10-27T15:04:33.500Z,1761577473.500 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:33.503Z,1761577473.503 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:33.503Z,1761577473.503 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:33.504Z,1761577473.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:33.524Z,1761577473.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221622,-0.966577,-0.128893],[0.972585,0.209555,0.100823],[-0.070443,-0.147704,0.986520]]
2025-10-27T15:04:33.658Z,1761577473.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 400.399994 m,
      deltaT: 4.299879 s,
      deltaX: -2.600006 m,
      approachRate: -0.604670 m/s,
      rangeRepo size: 4

2025-10-27T15:04:33.669Z,1761577473.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 398.506866 m,
      bearing: 77.291346 deg,
      lat: 36.779105 deg,
      lon: -121.859206 deg,
      deltaT: 4.299879 s,
      deltaX: -2.588074 m,
      approachRate: -0.601895 m/s,
      posRepo size: 4

2025-10-27T15:04:33.670Z,1761577473.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:33.677Z,1761577473.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 394.723053 m,
      bearing: 75.624176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001819 deg/s,
      cmd heading: 77.864443 deg,
      new cmd heading: 77.867343 deg.

2025-10-27T15:04:33.678Z,1761577473.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359042 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:33.729Z,1761577473.729 [DAT](INFO): DAT read: user:899>

2025-10-27T15:04:33.730Z,1761577473.730 [DAT](INFO): DAT read: Tx time:15:04:32.7756

2025-10-27T15:04:33.731Z,1761577473.731 [DAT](INFO): Ping request sent.
2025-10-27T15:04:33.731Z,1761577473.731 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:33.731Z,1761577473.731 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:33.732Z,1761577473.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001377
2025-10-27T15:04:33.970Z,1761577473.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:33.980Z,1761577473.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249111
2025-10-27T15:04:33.992Z,1761577473.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:33.995Z,1761577473.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 394.463959 m,
      bearing: 75.624292 deg,
      approach rate: -0.773894 m/s,
      LOS rate: 0.000347 deg/s,
      cmd heading: 77.867346 deg,
      new cmd heading: 77.867694 deg.

2025-10-27T15:04:33.996Z,1761577473.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359048 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:34.232Z,1761577474.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501215
2025-10-27T15:04:34.321Z,1761577474.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220204,-0.967213,-0.126529],[0.972875,0.208341,0.100543],[-0.070886,-0.145237,0.986854]]
2025-10-27T15:04:34.357Z,1761577474.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:34.360Z,1761577474.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 394.182281 m,
      bearing: 75.624361 deg,
      approach rate: -0.772533 m/s,
      LOS rate: 0.000190 deg/s,
      cmd heading: 77.867695 deg,
      new cmd heading: 77.867903 deg.

2025-10-27T15:04:34.361Z,1761577474.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359051 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:34.484Z,1761577474.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753325
2025-10-27T15:04:34.730Z,1761577474.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219109,-0.967455,-0.126576],[0.973101,0.207216,0.100674],[-0.071169,-0.145229,0.986835]]
2025-10-27T15:04:34.736Z,1761577474.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005772
2025-10-27T15:04:34.788Z,1761577474.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:34.791Z,1761577474.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 393.835388 m,
      bearing: 75.624383 deg,
      approach rate: -0.803934 m/s,
      LOS rate: 0.000050 deg/s,
      cmd heading: 77.867899 deg,
      new cmd heading: 77.867965 deg.

2025-10-27T15:04:34.792Z,1761577474.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359052 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:34.988Z,1761577474.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257250
2025-10-27T15:04:35.169Z,1761577475.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:35.172Z,1761577475.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 393.538422 m,
      bearing: 75.624401 deg,
      approach rate: -0.780238 m/s,
      LOS rate: 0.000049 deg/s,
      cmd heading: 77.867968 deg,
      new cmd heading: 77.868024 deg.

2025-10-27T15:04:35.173Z,1761577475.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359053 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:35.241Z,1761577475.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510133
2025-10-27T15:04:35.492Z,1761577475.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761278
2025-10-27T15:04:35.540Z,1761577475.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216664,-0.967657,-0.129217],[0.973567,0.204370,0.101978],[-0.072272,-0.147896,0.986359]]
2025-10-27T15:04:35.658Z,1761577475.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:35.665Z,1761577475.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 393.214478 m,
      bearing: 75.624301 deg,
      approach rate: -0.661964 m/s,
      LOS rate: -0.000206 deg/s,
      cmd heading: 77.868022 deg,
      new cmd heading: 77.867720 deg.

2025-10-27T15:04:35.666Z,1761577475.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359048 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:35.745Z,1761577475.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013965
2025-10-27T15:04:35.996Z,1761577475.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265278
2025-10-27T15:04:36.001Z,1761577476.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215582,-0.968040,-0.128154],[0.973782,0.203366,0.101933],[-0.072613,-0.146769,0.986502]]
2025-10-27T15:04:36.069Z,1761577476.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:36.075Z,1761577476.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:36.078Z,1761577476.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 392.860840 m,
      bearing: 75.624135 deg,
      approach rate: -0.856546 m/s,
      LOS rate: -0.000401 deg/s,
      cmd heading: 77.867722 deg,
      new cmd heading: 77.867225 deg.

2025-10-27T15:04:36.083Z,1761577476.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359039 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:36.248Z,1761577476.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517180
2025-10-27T15:04:36.418Z,1761577476.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212509,-0.969461,-0.122413],[0.974415,0.200862,0.100841],[-0.073173,-0.140710,0.987343]]
2025-10-27T15:04:36.448Z,1761577476.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:36.451Z,1761577476.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 392.540985 m,
      bearing: 75.623846 deg,
      approach rate: -0.848178 m/s,
      LOS rate: -0.000768 deg/s,
      cmd heading: 77.867223 deg,
      new cmd heading: 77.866355 deg.

2025-10-27T15:04:36.452Z,1761577476.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359024 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:36.501Z,1761577476.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770172
2025-10-27T15:04:36.753Z,1761577476.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022055
2025-10-27T15:04:36.817Z,1761577476.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210986,-0.969861,-0.121883],[0.974763,0.199449,0.100285],[-0.072953,-0.139966,0.987465]]
2025-10-27T15:04:36.878Z,1761577476.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:36.882Z,1761577476.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 392.191772 m,
      bearing: 75.622844 deg,
      approach rate: -0.812266 m/s,
      LOS rate: -0.002332 deg/s,
      cmd heading: 77.866356 deg,
      new cmd heading: 77.863348 deg.

2025-10-27T15:04:36.883Z,1761577476.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358972 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:37.004Z,1761577477.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273322
2025-10-27T15:04:37.224Z,1761577477.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209362,-0.969892,-0.124405],[0.975176,0.197713,0.099707],[-0.072108,-0.142192,0.987209]]
2025-10-27T15:04:37.242Z,1761577477.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:37.245Z,1761577477.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 391.895416 m,
      bearing: 75.621920 deg,
      approach rate: -0.815063 m/s,
      LOS rate: -0.002543 deg/s,
      cmd heading: 77.863351 deg,
      new cmd heading: 77.860577 deg.

2025-10-27T15:04:37.246Z,1761577477.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358923 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:37.256Z,1761577477.256 [DAT](INFO): DAT read: Rx Time:15:04:35.6934

2025-10-27T15:04:37.257Z,1761577477.257 [DAT](INFO): Rx dataTimestamp_ set to:1761577477.256263
2025-10-27T15:04:37.257Z,1761577477.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526461
2025-10-27T15:04:37.509Z,1761577477.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777922
2025-10-27T15:04:37.651Z,1761577477.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208020,-0.969768,-0.127581],[0.975558,0.196259,0.098836],[-0.070809,-0.145022,0.986891]]
2025-10-27T15:04:37.734Z,1761577477.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.51 m.
2025-10-27T15:04:37.738Z,1761577477.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.506866 m,
      nav range: 391.503265 m,
      bearing: 75.620328 deg,
      approach rate: -0.797296 m/s,
      LOS rate: -0.003240 deg/s,
      cmd heading: 77.860578 deg,
      new cmd heading: 77.855797 deg.

2025-10-27T15:04:37.756Z,1761577477.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358840 target range: 398.506866 and range: 400.40 m.
2025-10-27T15:04:37.765Z,1761577477.765 [DAT](INFO): DAT read: 15:04:35.6934 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 235,-0.08,-0.368,-1.736,-0.126,-0.153, PHS=-0.113,-1.538,-0.017, RAW= 153.2,  21.8, CAL= 156.1,  29.6, ROT= 353.9, -29.6

2025-10-27T15:04:37.767Z,1761577477.767 [DAT](INFO): got valid direction response:
 15:04:35.6934 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 235,-0.08,-0.368,-1.736,-0.126,-0.153, PHS=-0.113,-1.538,-0.017, RAW= 153.2,  21.8, CAL= 156.1,  29.6, ROT= 353.9, -29.6

2025-10-27T15:04:37.768Z,1761577477.768 [DAT](INFO): DAT read: Bearing 245.0, -13.2 (Local)

2025-10-27T15:04:37.768Z,1761577477.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.0, -13.2 (Local)

2025-10-27T15:04:37.769Z,1761577477.769 [DAT](INFO): DAT read: Range 11 to 50 : 385.2 m  (Round-trip  513.6 ms) speed  0.8 m/s

2025-10-27T15:04:37.770Z,1761577477.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:37.771Z,1761577477.771 [DAT](INFO): direction in FSK: [0.864572,-0.092396,0.493942]
2025-10-27T15:04:37.771Z,1761577477.771 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:37.775Z,1761577477.775 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:37.779Z,1761577477.779 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:37.779Z,1761577477.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:38.016Z,1761577478.016 [DAT](INFO): DAT read: user:900>

2025-10-27T15:04:38.016Z,1761577478.016 [DAT](INFO): DAT read: Tx time:15:04:37.0241

2025-10-27T15:04:38.017Z,1761577478.017 [DAT](INFO): Ping request sent.
2025-10-27T15:04:38.017Z,1761577478.017 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:38.017Z,1761577478.017 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:38.017Z,1761577478.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-27T15:04:38.030Z,1761577478.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206447,-0.969525,-0.131915],[0.976003,0.194505,0.097903],[-0.069261,-0.148962,0.986414]]
2025-10-27T15:04:38.093Z,1761577478.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 385.200012 m,
      deltaT: 4.284266 s,
      deltaX: -15.199982 m,
      approachRate: -3.547861 m/s,
      rangeRepo size: 4

2025-10-27T15:04:38.100Z,1761577478.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 383.377014 m,
      bearing: 76.932684 deg,
      lat: 36.779012 deg,
      lon: -121.859206 deg,
      deltaT: 4.284266 s,
      deltaX: -15.129852 m,
      approachRate: -3.531492 m/s,
      posRepo size: 4

2025-10-27T15:04:38.101Z,1761577478.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.38 m.
2025-10-27T15:04:38.104Z,1761577478.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.377014 m,
      nav range: 388.778595 m,
      bearing: 77.099646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003240 deg/s,
      cmd heading: 77.855796 deg,
      new cmd heading: 77.852306 deg.

2025-10-27T15:04:38.105Z,1761577478.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358779 target range: 383.377014 and range: 385.20 m.
2025-10-27T15:04:38.264Z,1761577478.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247217
2025-10-27T15:04:38.426Z,1761577478.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205391,-0.968992,-0.137361],[0.976325,0.193139,0.097395],[-0.067845,-0.154113,0.985721]]
2025-10-27T15:04:38.443Z,1761577478.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:38.446Z,1761577478.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.38 m.
2025-10-27T15:04:38.464Z,1761577478.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.377014 m,
      nav range: 388.482147 m,
      bearing: 77.099450 deg,
      approach rate: -0.840245 m/s,
      LOS rate: -0.000557 deg/s,
      cmd heading: 77.852306 deg,
      new cmd heading: 77.851717 deg.

2025-10-27T15:04:38.465Z,1761577478.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358769 target range: 383.377014 and range: 385.20 m.
2025-10-27T15:04:38.517Z,1761577478.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499977
2025-10-27T15:04:38.768Z,1761577478.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751302
2025-10-27T15:04:38.830Z,1761577478.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203953,-0.968980,-0.139578],[0.976712,0.191700,0.096356],[-0.066610,-0.155979,0.985512]]
2025-10-27T15:04:38.877Z,1761577478.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.38 m.
2025-10-27T15:04:38.880Z,1761577478.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.377014 m,
      nav range: 388.151062 m,
      bearing: 77.100424 deg,
      approach rate: -0.767437 m/s,
      LOS rate: 0.002260 deg/s,
      cmd heading: 77.851719 deg,
      new cmd heading: 77.854644 deg.

2025-10-27T15:04:38.881Z,1761577478.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358820 target range: 383.377014 and range: 385.20 m.
2025-10-27T15:04:39.020Z,1761577479.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003294
2025-10-27T15:04:39.238Z,1761577479.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202889,-0.969199,-0.139604],[0.976991,0.190787,0.095339],[-0.065768,-0.155735,0.985607]]
2025-10-27T15:04:39.257Z,1761577479.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.38 m.
2025-10-27T15:04:39.260Z,1761577479.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.377014 m,
      nav range: 387.860107 m,
      bearing: 77.101234 deg,
      approach rate: -0.764666 m/s,
      LOS rate: 0.002130 deg/s,
      cmd heading: 77.854642 deg,
      new cmd heading: 77.857073 deg.

2025-10-27T15:04:39.261Z,1761577479.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358862 target range: 383.377014 and range: 385.20 m.
2025-10-27T15:04:39.272Z,1761577479.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255625
2025-10-27T15:04:39.526Z,1761577479.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508930
2025-10-27T15:04:39.741Z,1761577479.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.38 m.
2025-10-27T15:04:39.749Z,1761577479.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.377014 m,
      nav range: 387.502380 m,
      bearing: 77.102231 deg,
      approach rate: -0.740351 m/s,
      LOS rate: 0.002066 deg/s,
      cmd heading: 77.857074 deg,
      new cmd heading: 77.860068 deg.

2025-10-27T15:04:39.755Z,1761577479.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358914 target range: 383.377014 and range: 385.20 m.
2025-10-27T15:04:39.776Z,1761577479.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759393
2025-10-27T15:04:40.029Z,1761577480.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012491
2025-10-27T15:04:40.089Z,1761577480.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201320,-0.969595,-0.139122],[0.977379,0.189445,0.094021],[-0.064806,-0.154903,0.985802]]
2025-10-27T15:04:40.149Z,1761577480.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.38 m.
2025-10-27T15:04:40.152Z,1761577480.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.377014 m,
      nav range: 387.195374 m,
      bearing: 77.104186 deg,
      approach rate: -0.751194 m/s,
      LOS rate: 0.004787 deg/s,
      cmd heading: 77.860065 deg,
      new cmd heading: 77.865935 deg.

2025-10-27T15:04:40.153Z,1761577480.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359017 target range: 383.377014 and range: 385.20 m.
2025-10-27T15:04:40.283Z,1761577480.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266068
2025-10-27T15:04:40.533Z,1761577480.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515842
2025-10-27T15:04:40.587Z,1761577480.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201229,-0.969653,-0.138855],[0.977397,0.189378,0.093978],[-0.064830,-0.154628,0.985843]]
2025-10-27T15:04:40.615Z,1761577480.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:40.617Z,1761577480.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.38 m.
2025-10-27T15:04:40.637Z,1761577480.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.377014 m,
      nav range: 386.857483 m,
      bearing: 77.106336 deg,
      approach rate: -0.721805 m/s,
      LOS rate: 0.004596 deg/s,
      cmd heading: 77.865932 deg,
      new cmd heading: 77.872387 deg.

2025-10-27T15:04:40.665Z,1761577480.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359130 target range: 383.377014 and range: 385.20 m.
2025-10-27T15:04:40.784Z,1761577480.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767193
2025-10-27T15:04:41.037Z,1761577481.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020416
2025-10-27T15:04:41.158Z,1761577481.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201371,-0.969708,-0.138261],[0.977360,0.189559,0.093989],[-0.064933,-0.154058,0.985926]]
2025-10-27T15:04:41.165Z,1761577481.165 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050318525964,35.0, +110,1494.4,  0
2025-10-27T15:04:41.181Z,1761577481.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.38 m.
2025-10-27T15:04:41.184Z,1761577481.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.377014 m,
      nav range: 386.449402 m,
      bearing: 77.108945 deg,
      approach rate: -0.723624 m/s,
      LOS rate: 0.004632 deg/s,
      cmd heading: 77.872387 deg,
      new cmd heading: 77.880223 deg.

2025-10-27T15:04:41.185Z,1761577481.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359266 target range: 383.377014 and range: 385.20 m.
2025-10-27T15:04:41.288Z,1761577481.288 [DAT](INFO): DAT read: Rx Time:15:04:39.9370

2025-10-27T15:04:41.289Z,1761577481.289 [DAT](INFO): Rx dataTimestamp_ set to:1761577481.288236
2025-10-27T15:04:41.289Z,1761577481.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272341
2025-10-27T15:04:41.542Z,1761577481.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524952
2025-10-27T15:04:41.668Z,1761577481.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203831,-0.969361,-0.137082],[0.976958,0.192348,0.092495],[-0.063293,-0.152777,0.986232]]
2025-10-27T15:04:41.772Z,1761577481.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.38 m.
2025-10-27T15:04:41.774Z,1761577481.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.377014 m,
      nav range: 386.031860 m,
      bearing: 77.111772 deg,
      approach rate: -0.707538 m/s,
      LOS rate: 0.004795 deg/s,
      cmd heading: 77.880221 deg,
      new cmd heading: 77.888710 deg.

2025-10-27T15:04:41.780Z,1761577481.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359414 target range: 383.377014 and range: 385.20 m.
2025-10-27T15:04:41.795Z,1761577481.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777819
2025-10-27T15:04:42.059Z,1761577482.059 [DAT](INFO): DAT read: 15:04:39.9370 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 393,-0.08, 2.582, 1.265, 2.862, 2.746, PHS=-0.062,-1.436, 0.073, RAW= 154.6,  19.2, CAL= 156.3,  24.1, ROT= 353.7, -24.1

2025-10-27T15:04:42.061Z,1761577482.061 [DAT](INFO): got valid direction response:
 15:04:39.9370 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 393,-0.08, 2.582, 1.265, 2.862, 2.746, PHS=-0.062,-1.436, 0.073, RAW= 154.6,  19.2, CAL= 156.3,  24.1, ROT= 353.7, -24.1

2025-10-27T15:04:42.061Z,1761577482.061 [DAT](INFO): DAT read: Bearing 239.8, -13.1 (Local)

2025-10-27T15:04:42.062Z,1761577482.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.8, -13.1 (Local)

2025-10-27T15:04:42.063Z,1761577482.063 [DAT](INFO): DAT read: Range 11 to 50 : 381.5 m  (Round-trip  508.7 ms) speed  0.4 m/s

2025-10-27T15:04:42.064Z,1761577482.064 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:42.065Z,1761577482.065 [DAT](INFO): direction in FSK: [0.907322,-0.100169,0.408330]
2025-10-27T15:04:42.065Z,1761577482.065 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:42.070Z,1761577482.070 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:42.070Z,1761577482.070 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:42.071Z,1761577482.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:42.252Z,1761577482.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 381.500000 m,
      deltaT: 4.284777 s,
      deltaX: -3.700012 m,
      approachRate: -0.863525 m/s,
      rangeRepo size: 4

2025-10-27T15:04:42.254Z,1761577482.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 379.696075 m,
      bearing: 75.973489 deg,
      lat: 36.779010 deg,
      lon: -121.859206 deg,
      deltaT: 4.284777 s,
      deltaX: -3.680939 m,
      approachRate: -0.859074 m/s,
      posRepo size: 4

2025-10-27T15:04:42.271Z,1761577482.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:42.277Z,1761577482.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 385.686554 m,
      bearing: 77.139624 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004795 deg/s,
      cmd heading: 77.888711 deg,
      new cmd heading: 77.895609 deg.

2025-10-27T15:04:42.278Z,1761577482.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359535 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:42.296Z,1761577482.296 [DAT](INFO): DAT read: user:901>

2025-10-27T15:04:42.297Z,1761577482.297 [DAT](INFO): DAT read: Tx time:15:04:41.3241

2025-10-27T15:04:42.297Z,1761577482.297 [DAT](INFO): Ping request sent.
2025-10-27T15:04:42.297Z,1761577482.297 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:42.297Z,1761577482.297 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:42.298Z,1761577482.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-27T15:04:42.549Z,1761577482.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252120
2025-10-27T15:04:42.599Z,1761577482.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207863,-0.968306,-0.138483],[0.976252,0.196533,0.091146],[-0.061040,-0.154140,0.986162]]
2025-10-27T15:04:42.624Z,1761577482.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:42.626Z,1761577482.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:42.629Z,1761577482.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 385.447205 m,
      bearing: 77.142968 deg,
      approach rate: -0.638969 m/s,
      LOS rate: 0.008933 deg/s,
      cmd heading: 77.895610 deg,
      new cmd heading: 77.905648 deg.

2025-10-27T15:04:42.630Z,1761577482.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359710 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:42.800Z,1761577482.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502822
2025-10-27T15:04:43.007Z,1761577483.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209787,-0.967659,-0.140094],[0.975901,0.198430,0.090786],[-0.060051,-0.155764,0.985967]]
2025-10-27T15:04:43.052Z,1761577483.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754960
2025-10-27T15:04:43.068Z,1761577483.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:43.071Z,1761577483.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 385.168304 m,
      bearing: 77.146898 deg,
      approach rate: -0.630593 m/s,
      LOS rate: 0.008893 deg/s,
      cmd heading: 77.905650 deg,
      new cmd heading: 77.917449 deg.

2025-10-27T15:04:43.072Z,1761577483.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359916 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:43.273Z,1761577483.273 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:04:43.304Z,1761577483.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007237
2025-10-27T15:04:43.406Z,1761577483.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211773,-0.966926,-0.142148],[0.975535,0.200354,0.090503],[-0.059029,-0.157836,0.985699]]
2025-10-27T15:04:43.432Z,1761577483.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:43.435Z,1761577483.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 384.938873 m,
      bearing: 77.150204 deg,
      approach rate: -0.630312 m/s,
      LOS rate: 0.009088 deg/s,
      cmd heading: 77.917453 deg,
      new cmd heading: 77.927377 deg.

2025-10-27T15:04:43.436Z,1761577483.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360089 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:43.556Z,1761577483.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258994
2025-10-27T15:04:43.808Z,1761577483.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510781
2025-10-27T15:04:43.811Z,1761577483.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213736,-0.965821,-0.146650],[0.975165,0.202019,0.090785],[-0.058056,-0.162412,0.985014]]
2025-10-27T15:04:43.860Z,1761577483.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:43.863Z,1761577483.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 384.670044 m,
      bearing: 77.153087 deg,
      approach rate: -0.627610 m/s,
      LOS rate: 0.006736 deg/s,
      cmd heading: 77.927377 deg,
      new cmd heading: 77.936032 deg.

2025-10-27T15:04:43.864Z,1761577483.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360240 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:44.060Z,1761577484.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762775
2025-10-27T15:04:44.218Z,1761577484.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216082,-0.964850,-0.149580],[0.974706,0.204210,0.090813],[-0.057075,-0.165419,0.984570]]
2025-10-27T15:04:44.249Z,1761577484.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:44.252Z,1761577484.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 384.426575 m,
      bearing: 77.155785 deg,
      approach rate: -0.626971 m/s,
      LOS rate: 0.006950 deg/s,
      cmd heading: 77.936031 deg,
      new cmd heading: 77.944128 deg.

2025-10-27T15:04:44.253Z,1761577484.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360382 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:44.275Z,1761577484.275 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:04:44.312Z,1761577484.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015195
2025-10-27T15:04:44.564Z,1761577484.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266803
2025-10-27T15:04:44.618Z,1761577484.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217496,-0.964558,-0.149409],[0.974446,0.205774,0.090073],[-0.056136,-0.165181,0.984664]]
2025-10-27T15:04:44.659Z,1761577484.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:44.662Z,1761577484.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:44.664Z,1761577484.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 384.178070 m,
      bearing: 77.158595 deg,
      approach rate: -0.601836 m/s,
      LOS rate: 0.006811 deg/s,
      cmd heading: 77.944124 deg,
      new cmd heading: 77.952562 deg.

2025-10-27T15:04:44.665Z,1761577484.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360529 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:44.816Z,1761577484.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518823
2025-10-27T15:04:45.030Z,1761577485.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218549,-0.964608,-0.147540],[0.974265,0.207143,0.088879],[-0.055171,-0.163167,0.985055]]
2025-10-27T15:04:45.068Z,1761577485.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770953
2025-10-27T15:04:45.083Z,1761577485.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:45.086Z,1761577485.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 383.886108 m,
      bearing: 77.160396 deg,
      approach rate: -0.693369 m/s,
      LOS rate: 0.004281 deg/s,
      cmd heading: 77.952560 deg,
      new cmd heading: 77.957967 deg.

2025-10-27T15:04:45.086Z,1761577485.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360623 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:45.324Z,1761577485.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026536
2025-10-27T15:04:45.426Z,1761577485.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219204,-0.964921,-0.144491],[0.974176,0.208238,0.087277],[-0.054127,-0.159891,0.985650]]
2025-10-27T15:04:45.458Z,1761577485.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:45.461Z,1761577485.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 383.636566 m,
      bearing: 77.161968 deg,
      approach rate: -0.664631 m/s,
      LOS rate: 0.004189 deg/s,
      cmd heading: 77.957969 deg,
      new cmd heading: 77.962687 deg.

2025-10-27T15:04:45.462Z,1761577485.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360706 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:45.572Z,1761577485.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275181
2025-10-27T15:04:45.824Z,1761577485.824 [DAT](INFO): DAT read: Rx Time:15:04:44.2333

2025-10-27T15:04:45.824Z,1761577485.824 [DAT](INFO): Rx dataTimestamp_ set to:1761577485.824101
2025-10-27T15:04:45.825Z,1761577485.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527864
2025-10-27T15:04:45.834Z,1761577485.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219881,-0.965050,-0.142587],[0.974078,0.209235,0.085977],[-0.053138,-0.157796,0.986041]]
2025-10-27T15:04:45.902Z,1761577485.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:45.905Z,1761577485.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 383.311707 m,
      bearing: 77.162811 deg,
      approach rate: -0.732482 m/s,
      LOS rate: 0.001903 deg/s,
      cmd heading: 77.962689 deg,
      new cmd heading: 77.965221 deg.

2025-10-27T15:04:45.905Z,1761577485.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360750 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:46.076Z,1761577486.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778741
2025-10-27T15:04:46.238Z,1761577486.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219965,-0.965020,-0.142658],[0.974103,0.209443,0.085185],[-0.052326,-0.157701,0.986100]]
2025-10-27T15:04:46.259Z,1761577486.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.70 m.
2025-10-27T15:04:46.262Z,1761577486.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.696075 m,
      nav range: 383.050079 m,
      bearing: 77.163495 deg,
      approach rate: -0.732023 m/s,
      LOS rate: 0.001913 deg/s,
      cmd heading: 77.965223 deg,
      new cmd heading: 77.967274 deg.

2025-10-27T15:04:46.279Z,1761577486.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360786 target range: 379.696075 and range: 381.50 m.
2025-10-27T15:04:46.336Z,1761577486.336 [DAT](INFO): DAT read: 15:04:44.2333 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 401, 0.10, 0.812,-0.740, 1.132, 0.731, PHS= 0.183,-1.426, 0.357, RAW= 155.1,  10.4, CAL= 155.0,  11.4, ROT= 355.0, -11.4

2025-10-27T15:04:46.338Z,1761577486.338 [DAT](INFO): got valid direction response:
 15:04:44.2333 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 401, 0.10, 0.812,-0.740, 1.132, 0.731, PHS= 0.183,-1.426, 0.357, RAW= 155.1,  10.4, CAL= 155.0,  11.4, ROT= 355.0, -11.4

2025-10-27T15:04:46.340Z,1761577486.340 [DAT](INFO): DAT read: Bearing 227.3,  -9.4 (Local)

2025-10-27T15:04:46.340Z,1761577486.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.3,  -9.4 (Local)

2025-10-27T15:04:46.342Z,1761577486.342 [DAT](INFO): DAT read: Range 11 to 50 : 378.8 m  (Round-trip  505.1 ms) speed  0.8 m/s

2025-10-27T15:04:46.344Z,1761577486.344 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:46.346Z,1761577486.346 [DAT](INFO): direction in FSK: [0.976541,-0.085436,0.197657]
2025-10-27T15:04:46.346Z,1761577486.346 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:46.359Z,1761577486.359 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:46.359Z,1761577486.359 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:46.360Z,1761577486.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:46.580Z,1761577486.580 [DAT](INFO): DAT read: user:902>

2025-10-27T15:04:46.581Z,1761577486.581 [DAT](INFO): DAT read: Tx time:15:04:45.6241

2025-10-27T15:04:46.581Z,1761577486.581 [DAT](INFO): Ping request sent.
2025-10-27T15:04:46.581Z,1761577486.581 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:46.581Z,1761577486.581 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:46.582Z,1761577486.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-27T15:04:46.639Z,1761577486.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219868,-0.965137,-0.142015],[0.974179,0.209566,0.084011],[-0.051320,-0.156819,0.986293]]
2025-10-27T15:04:46.665Z,1761577486.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 378.799988 m,
      deltaT: 4.283819 s,
      deltaX: -2.700012 m,
      approachRate: -0.630282 m/s,
      rangeRepo size: 4

2025-10-27T15:04:46.667Z,1761577486.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 377.008636 m,
      bearing: 74.185120 deg,
      lat: 36.779010 deg,
      lon: -121.859374 deg,
      deltaT: 4.283819 s,
      deltaX: -2.687439 m,
      approachRate: -0.627347 m/s,
      posRepo size: 4

2025-10-27T15:04:46.668Z,1761577486.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.01 m.
2025-10-27T15:04:46.670Z,1761577486.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.008636 m,
      nav range: 368.119812 m,
      bearing: 76.644741 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001913 deg/s,
      cmd heading: 77.967272 deg,
      new cmd heading: 77.969597 deg.

2025-10-27T15:04:46.672Z,1761577486.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360826 target range: 377.008636 and range: 378.80 m.
2025-10-27T15:04:46.832Z,1761577486.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250931
2025-10-27T15:04:47.048Z,1761577487.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218600,-0.965418,-0.142066],[0.974518,0.208482,0.082766],[-0.050286,-0.156539,0.986391]]
2025-10-27T15:04:47.084Z,1761577487.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502886
2025-10-27T15:04:47.102Z,1761577487.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:47.104Z,1761577487.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.01 m.
2025-10-27T15:04:47.107Z,1761577487.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.008636 m,
      nav range: 367.781128 m,
      bearing: 76.643568 deg,
      approach rate: -0.769462 m/s,
      LOS rate: -0.002667 deg/s,
      cmd heading: 77.969594 deg,
      new cmd heading: 77.966073 deg.

2025-10-27T15:04:47.108Z,1761577487.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360765 target range: 377.008636 and range: 378.80 m.
2025-10-27T15:04:47.337Z,1761577487.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755280
2025-10-27T15:04:47.449Z,1761577487.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217627,-0.965365,-0.143904],[0.974808,0.207595,0.081575],[-0.048876,-0.158032,0.986224]]
2025-10-27T15:04:47.467Z,1761577487.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.01 m.
2025-10-27T15:04:47.469Z,1761577487.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.008636 m,
      nav range: 367.504303 m,
      bearing: 76.642562 deg,
      approach rate: -0.763954 m/s,
      LOS rate: -0.002779 deg/s,
      cmd heading: 77.966070 deg,
      new cmd heading: 77.963049 deg.

2025-10-27T15:04:47.470Z,1761577487.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360712 target range: 377.008636 and range: 378.80 m.
2025-10-27T15:04:47.588Z,1761577487.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006844
2025-10-27T15:04:47.840Z,1761577487.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258854
2025-10-27T15:04:47.852Z,1761577487.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216569,-0.965814,-0.142485],[0.975116,0.206911,0.079608],[-0.047405,-0.156180,0.986590]]
2025-10-27T15:04:47.918Z,1761577487.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.01 m.
2025-10-27T15:04:47.925Z,1761577487.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.008636 m,
      nav range: 367.138733 m,
      bearing: 76.639986 deg,
      approach rate: -0.810250 m/s,
      LOS rate: -0.005714 deg/s,
      cmd heading: 77.963051 deg,
      new cmd heading: 77.955316 deg.

2025-10-27T15:04:47.926Z,1761577487.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360577 target range: 377.008636 and range: 378.80 m.
2025-10-27T15:04:48.092Z,1761577488.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510808
2025-10-27T15:04:48.313Z,1761577488.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.01 m.
2025-10-27T15:04:48.315Z,1761577488.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.008636 m,
      nav range: 366.823608 m,
      bearing: 76.637762 deg,
      approach rate: -0.798364 m/s,
      LOS rate: -0.005640 deg/s,
      cmd heading: 77.955319 deg,
      new cmd heading: 77.948641 deg.

2025-10-27T15:04:48.316Z,1761577488.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360460 target range: 377.008636 and range: 378.80 m.
2025-10-27T15:04:48.344Z,1761577488.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762869
2025-10-27T15:04:48.596Z,1761577488.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015130
2025-10-27T15:04:48.692Z,1761577488.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.01 m.
2025-10-27T15:04:48.694Z,1761577488.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.008636 m,
      nav range: 366.502472 m,
      bearing: 76.635491 deg,
      approach rate: -0.846524 m/s,
      LOS rate: -0.005990 deg/s,
      cmd heading: 77.948639 deg,
      new cmd heading: 77.941822 deg.

2025-10-27T15:04:48.696Z,1761577488.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360341 target range: 377.008636 and range: 378.80 m.
2025-10-27T15:04:48.848Z,1761577488.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266899
2025-10-27T15:04:49.061Z,1761577489.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211321,-0.966519,-0.145551],[0.976482,0.202255,0.074672],[-0.042734,-0.157907,0.986529]]
2025-10-27T15:04:49.100Z,1761577489.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519191
2025-10-27T15:04:49.116Z,1761577489.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:49.118Z,1761577489.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.01 m.
2025-10-27T15:04:49.126Z,1761577489.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.008636 m,
      nav range: 366.157013 m,
      bearing: 76.632557 deg,
      approach rate: -0.810130 m/s,
      LOS rate: -0.006889 deg/s,
      cmd heading: 77.941823 deg,
      new cmd heading: 77.933010 deg.

2025-10-27T15:04:49.131Z,1761577489.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360188 target range: 377.008636 and range: 378.80 m.
2025-10-27T15:04:49.352Z,1761577489.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770823
2025-10-27T15:04:49.467Z,1761577489.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208860,-0.967133,-0.145020],[0.977100,0.200208,0.072056],[-0.040654,-0.156749,0.986801]]
2025-10-27T15:04:49.485Z,1761577489.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.01 m.
2025-10-27T15:04:49.488Z,1761577489.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.008636 m,
      nav range: 365.826874 m,
      bearing: 76.629615 deg,
      approach rate: -0.899143 m/s,
      LOS rate: -0.008018 deg/s,
      cmd heading: 77.933012 deg,
      new cmd heading: 77.924180 deg.

2025-10-27T15:04:49.489Z,1761577489.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360034 target range: 377.008636 and range: 378.80 m.
2025-10-27T15:04:49.604Z,1761577489.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023007
2025-10-27T15:04:49.858Z,1761577489.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276840
2025-10-27T15:04:49.878Z,1761577489.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206114,-0.967710,-0.145104],[0.977775,0.197861,0.069337],[-0.038387,-0.156171,0.986984]]
2025-10-27T15:04:49.939Z,1761577489.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.01 m.
2025-10-27T15:04:49.942Z,1761577489.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.008636 m,
      nav range: 365.441833 m,
      bearing: 76.626800 deg,
      approach rate: -0.848789 m/s,
      LOS rate: -0.006212 deg/s,
      cmd heading: 77.924180 deg,
      new cmd heading: 77.915726 deg.

2025-10-27T15:04:49.944Z,1761577489.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359886 target range: 377.008636 and range: 378.80 m.
2025-10-27T15:04:50.108Z,1761577490.108 [DAT](INFO): DAT read: Rx Time:15:04:48.5302

2025-10-27T15:04:50.108Z,1761577490.108 [DAT](INFO): Rx dataTimestamp_ set to:1761577490.108148
2025-10-27T15:04:50.109Z,1761577490.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527880
2025-10-27T15:04:50.278Z,1761577490.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203607,-0.968362,-0.144288],[0.978387,0.195814,0.066448],[-0.036092,-0.154699,0.987302]]
2025-10-27T15:04:50.312Z,1761577490.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.01 m.
2025-10-27T15:04:50.315Z,1761577490.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.008636 m,
      nav range: 365.126160 m,
      bearing: 76.624359 deg,
      approach rate: -0.846041 m/s,
      LOS rate: -0.006549 deg/s,
      cmd heading: 77.915724 deg,
      new cmd heading: 77.908394 deg.

2025-10-27T15:04:50.316Z,1761577490.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359758 target range: 377.008636 and range: 378.80 m.
2025-10-27T15:04:50.361Z,1761577490.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780070
2025-10-27T15:04:50.617Z,1761577490.617 [DAT](INFO): DAT read: 15:04:48.5302 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.45,-0.613,-2.105,-0.248,-0.613, PHS= 0.101,-1.447, 0.321, RAW= 156.5,  12.2, CAL= 156.8,  13.7, ROT= 353.2, -13.7

2025-10-27T15:04:50.618Z,1761577490.618 [DAT](INFO): got valid direction response:
 15:04:48.5302 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.45,-0.613,-2.105,-0.248,-0.613, PHS= 0.101,-1.447, 0.321, RAW= 156.5,  12.2, CAL= 156.8,  13.7, ROT= 353.2, -13.7

2025-10-27T15:04:50.619Z,1761577490.619 [DAT](INFO): DAT read: Bearing 230.1, -10.8 (Local)

2025-10-27T15:04:50.620Z,1761577490.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.1, -10.8 (Local)

2025-10-27T15:04:50.621Z,1761577490.621 [DAT](INFO): DAT read: Range 11 to 50 : 376.5 m  (Round-trip  502.0 ms) speed  0.5 m/s

2025-10-27T15:04:50.622Z,1761577490.622 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:50.623Z,1761577490.623 [DAT](INFO): direction in FSK: [0.964715,-0.115035,0.236838]
2025-10-27T15:04:50.623Z,1761577490.623 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:50.626Z,1761577490.626 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:50.626Z,1761577490.626 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:50.627Z,1761577490.627 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:50.687Z,1761577490.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201055,-0.968868,-0.144472],[0.978997,0.193650,0.063753],[-0.033791,-0.154255,0.987453]]
2025-10-27T15:04:50.785Z,1761577490.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 376.500000 m,
      deltaT: 4.283141 s,
      deltaX: -2.299988 m,
      approachRate: -0.536986 m/s,
      rangeRepo size: 4

2025-10-27T15:04:50.791Z,1761577490.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 374.718048 m,
      bearing: 73.862348 deg,
      lat: 36.779012 deg,
      lon: -121.859415 deg,
      deltaT: 4.283141 s,
      deltaX: -2.290588 m,
      approachRate: -0.534792 m/s,
      posRepo size: 4

2025-10-27T15:04:50.792Z,1761577490.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.72 m.
2025-10-27T15:04:50.809Z,1761577490.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.718048 m,
      nav range: 361.247406 m,
      bearing: 76.462268 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006549 deg/s,
      cmd heading: 77.908396 deg,
      new cmd heading: 77.899302 deg.

2025-10-27T15:04:50.817Z,1761577490.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359599 target range: 374.718048 and range: 376.50 m.
2025-10-27T15:04:50.864Z,1761577490.864 [DAT](INFO): DAT read: user:903>

2025-10-27T15:04:50.865Z,1761577490.865 [DAT](INFO): DAT read: Tx time:15:04:49.8741

2025-10-27T15:04:50.865Z,1761577490.865 [DAT](INFO): Ping request sent.
2025-10-27T15:04:50.865Z,1761577490.865 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:50.865Z,1761577490.865 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:50.866Z,1761577490.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-10-27T15:04:51.117Z,1761577491.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251346
2025-10-27T15:04:51.146Z,1761577491.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198445,-0.969284,-0.145284],[0.979609,0.191406,0.061070],[-0.031386,-0.154441,0.987503]]
2025-10-27T15:04:51.196Z,1761577491.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:51.198Z,1761577491.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.72 m.
2025-10-27T15:04:51.202Z,1761577491.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.718048 m,
      nav range: 360.872406 m,
      bearing: 76.459814 deg,
      approach rate: -0.885673 m/s,
      LOS rate: -0.005803 deg/s,
      cmd heading: 77.899305 deg,
      new cmd heading: 77.891933 deg.

2025-10-27T15:04:51.203Z,1761577491.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359471 target range: 374.718048 and range: 376.50 m.
2025-10-27T15:04:51.368Z,1761577491.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502667
2025-10-27T15:04:51.550Z,1761577491.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196162,-0.969389,-0.147668],[0.980142,0.189381,0.058799],[-0.029034,-0.156270,0.987288]]
2025-10-27T15:04:51.582Z,1761577491.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.72 m.
2025-10-27T15:04:51.584Z,1761577491.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.718048 m,
      nav range: 360.552155 m,
      bearing: 76.457597 deg,
      approach rate: -0.836061 m/s,
      LOS rate: -0.005792 deg/s,
      cmd heading: 77.891935 deg,
      new cmd heading: 77.885279 deg.

2025-10-27T15:04:51.585Z,1761577491.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359355 target range: 374.718048 and range: 376.50 m.
2025-10-27T15:04:51.621Z,1761577491.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755182
2025-10-27T15:04:51.874Z,1761577491.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008932
2025-10-27T15:04:51.954Z,1761577491.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194016,-0.969868,-0.147358],[0.980625,0.187598,0.056406],[-0.027063,-0.155446,0.987474]]
2025-10-27T15:04:52.021Z,1761577492.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.72 m.
2025-10-27T15:04:52.030Z,1761577492.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.718048 m,
      nav range: 360.206451 m,
      bearing: 76.456371 deg,
      approach rate: -0.787267 m/s,
      LOS rate: -0.002795 deg/s,
      cmd heading: 77.885282 deg,
      new cmd heading: 77.881601 deg.

2025-10-27T15:04:52.033Z,1761577492.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359290 target range: 374.718048 and range: 376.50 m.
2025-10-27T15:04:52.124Z,1761577492.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259297
2025-10-27T15:04:52.361Z,1761577492.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192156,-0.970203,-0.147585],[0.981048,0.186090,0.053999],[-0.024926,-0.155164,0.987574]]
2025-10-27T15:04:52.376Z,1761577492.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510809
2025-10-27T15:04:52.381Z,1761577492.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.72 m.
2025-10-27T15:04:52.384Z,1761577492.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.718048 m,
      nav range: 359.914307 m,
      bearing: 76.455244 deg,
      approach rate: -0.811078 m/s,
      LOS rate: -0.003133 deg/s,
      cmd heading: 77.881601 deg,
      new cmd heading: 77.878216 deg.

2025-10-27T15:04:52.385Z,1761577492.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359231 target range: 374.718048 and range: 376.50 m.
2025-10-27T15:04:52.628Z,1761577492.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762732
2025-10-27T15:04:52.764Z,1761577492.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190662,-0.970492,-0.147628],[0.981385,0.184908,0.051894],[-0.023065,-0.154775,0.987681]]
2025-10-27T15:04:52.786Z,1761577492.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.72 m.
2025-10-27T15:04:52.805Z,1761577492.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.718048 m,
      nav range: 359.591248 m,
      bearing: 76.453915 deg,
      approach rate: -0.797626 m/s,
      LOS rate: -0.003284 deg/s,
      cmd heading: 77.878213 deg,
      new cmd heading: 77.874223 deg.

2025-10-27T15:04:52.806Z,1761577492.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359162 target range: 374.718048 and range: 376.50 m.
2025-10-27T15:04:52.882Z,1761577492.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017169
2025-10-27T15:04:53.132Z,1761577493.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267119
2025-10-27T15:04:53.237Z,1761577493.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:53.255Z,1761577493.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.72 m.
2025-10-27T15:04:53.258Z,1761577493.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.718048 m,
      nav range: 359.252411 m,
      bearing: 76.453855 deg,
      approach rate: -0.748032 m/s,
      LOS rate: -0.000132 deg/s,
      cmd heading: 77.874224 deg,
      new cmd heading: 77.874046 deg.

2025-10-27T15:04:53.259Z,1761577493.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359159 target range: 374.718048 and range: 376.50 m.
2025-10-27T15:04:53.384Z,1761577493.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519288
2025-10-27T15:04:53.587Z,1761577493.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189789,-0.970575,-0.148202],[0.981620,0.184493,0.048829],[-0.020050,-0.154746,0.987751]]
2025-10-27T15:04:53.606Z,1761577493.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.72 m.
2025-10-27T15:04:53.609Z,1761577493.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.718048 m,
      nav range: 358.972839 m,
      bearing: 76.453765 deg,
      approach rate: -0.761535 m/s,
      LOS rate: -0.000245 deg/s,
      cmd heading: 77.874047 deg,
      new cmd heading: 77.873777 deg.

2025-10-27T15:04:53.610Z,1761577493.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359154 target range: 374.718048 and range: 376.50 m.
2025-10-27T15:04:53.636Z,1761577493.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770822
2025-10-27T15:04:53.891Z,1761577493.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024946
2025-10-27T15:04:54.102Z,1761577494.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.72 m.
2025-10-27T15:04:54.105Z,1761577494.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.718048 m,
      nav range: 358.635742 m,
      bearing: 76.455600 deg,
      approach rate: -0.680065 m/s,
      LOS rate: 0.003704 deg/s,
      cmd heading: 77.873780 deg,
      new cmd heading: 77.879289 deg.

2025-10-27T15:04:54.106Z,1761577494.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359250 target range: 374.718048 and range: 376.50 m.
2025-10-27T15:04:54.140Z,1761577494.140 [DAT](INFO): DAT read: Rx Time:15:04:52.7745

2025-10-27T15:04:54.141Z,1761577494.141 [DAT](INFO): Rx dataTimestamp_ set to:1761577494.140315
2025-10-27T15:04:54.141Z,1761577494.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275959
2025-10-27T15:04:54.392Z,1761577494.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527252
2025-10-27T15:04:54.437Z,1761577494.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.72 m.
2025-10-27T15:04:54.456Z,1761577494.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.718048 m,
      nav range: 358.411896 m,
      bearing: 76.456820 deg,
      approach rate: -0.667989 m/s,
      LOS rate: 0.003643 deg/s,
      cmd heading: 77.879285 deg,
      new cmd heading: 77.882948 deg.

2025-10-27T15:04:54.457Z,1761577494.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359314 target range: 374.718048 and range: 376.50 m.
2025-10-27T15:04:54.647Z,1761577494.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781248
2025-10-27T15:04:54.922Z,1761577494.922 [DAT](INFO): DAT read: 15:04:52.7745 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 390, 0.05,-1.107,-2.405,-0.876,-1.320, PHS= 0.315,-1.040, 0.399, RAW= 153.0,   4.7, CAL= 152.1,   4.6, ROT= 357.9,  -4.6

2025-10-27T15:04:54.932Z,1761577494.932 [DAT](INFO): got valid direction response:
 15:04:52.7745 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 390, 0.05,-1.107,-2.405,-0.876,-1.320, PHS= 0.315,-1.040, 0.399, RAW= 153.0,   4.7, CAL= 152.1,   4.6, ROT= 357.9,  -4.6

2025-10-27T15:04:54.933Z,1761577494.933 [DAT](INFO): DAT read: Bearing 222.6,  -4.1 (Local)

2025-10-27T15:04:54.933Z,1761577494.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.6,  -4.1 (Local)

2025-10-27T15:04:54.934Z,1761577494.934 [DAT](INFO): DAT read: Range 11 to 50 : 372.1 m  (Round-trip  496.2 ms) speed  0.1 m/s

2025-10-27T15:04:54.939Z,1761577494.939 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:54.940Z,1761577494.940 [DAT](INFO): direction in FSK: [0.996109,-0.036526,0.080199]
2025-10-27T15:04:54.940Z,1761577494.940 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:54.945Z,1761577494.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195006,-0.968368,-0.155678],[0.980653,0.189742,0.048132],[-0.017071,-0.162052,0.986635]]
2025-10-27T15:04:54.948Z,1761577494.948 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:54.948Z,1761577494.948 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:54.948Z,1761577494.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:55.097Z,1761577495.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 372.100006 m,
      deltaT: 4.285696 s,
      deltaX: -4.399994 m,
      approachRate: -1.026670 m/s,
      rangeRepo size: 4

2025-10-27T15:04:55.104Z,1761577495.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 370.341797 m,
      bearing: 77.429734 deg,
      lat: 36.779010 deg,
      lon: -121.859415 deg,
      deltaT: 4.285696 s,
      deltaX: -4.376251 m,
      approachRate: -1.021130 m/s,
      posRepo size: 4

2025-10-27T15:04:55.104Z,1761577495.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.34 m.
2025-10-27T15:04:55.119Z,1761577495.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.341797 m,
      nav range: 357.952972 m,
      bearing: 76.485699 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003643 deg/s,
      cmd heading: 77.882946 deg,
      new cmd heading: 77.890159 deg.

2025-10-27T15:04:55.120Z,1761577495.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359440 target range: 370.341797 and range: 372.10 m.
2025-10-27T15:04:55.149Z,1761577495.149 [DAT](INFO): DAT read: user:904>

2025-10-27T15:04:55.150Z,1761577495.150 [DAT](INFO): DAT read: Tx time:15:04:54.2241

2025-10-27T15:04:55.150Z,1761577495.150 [DAT](INFO): Ping request sent.
2025-10-27T15:04:55.151Z,1761577495.151 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:55.151Z,1761577495.151 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:55.151Z,1761577495.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000856
2025-10-27T15:04:55.400Z,1761577495.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249318
2025-10-27T15:04:55.536Z,1761577495.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:55.538Z,1761577495.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.34 m.
2025-10-27T15:04:55.541Z,1761577495.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.341797 m,
      nav range: 357.665009 m,
      bearing: 76.488023 deg,
      approach rate: -0.651698 m/s,
      LOS rate: 0.005262 deg/s,
      cmd heading: 77.890159 deg,
      new cmd heading: 77.897135 deg.

2025-10-27T15:04:55.542Z,1761577495.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359561 target range: 370.341797 and range: 372.10 m.
2025-10-27T15:04:55.656Z,1761577495.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504975
2025-10-27T15:04:55.908Z,1761577495.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756504
2025-10-27T15:04:56.062Z,1761577496.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.34 m.
2025-10-27T15:04:56.072Z,1761577496.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.341797 m,
      nav range: 357.346100 m,
      bearing: 76.491624 deg,
      approach rate: -0.609137 m/s,
      LOS rate: 0.006885 deg/s,
      cmd heading: 77.897133 deg,
      new cmd heading: 77.907946 deg.

2025-10-27T15:04:56.073Z,1761577496.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359750 target range: 370.341797 and range: 372.10 m.
2025-10-27T15:04:56.157Z,1761577496.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006238
2025-10-27T15:04:56.408Z,1761577496.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257441
2025-10-27T15:04:56.428Z,1761577496.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.34 m.
2025-10-27T15:04:56.436Z,1761577496.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.341797 m,
      nav range: 357.119843 m,
      bearing: 76.494183 deg,
      approach rate: -0.618091 m/s,
      LOS rate: 0.006995 deg/s,
      cmd heading: 77.907945 deg,
      new cmd heading: 77.915626 deg.

2025-10-27T15:04:56.437Z,1761577496.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359884 target range: 370.341797 and range: 372.10 m.
2025-10-27T15:04:56.660Z,1761577496.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509310
2025-10-27T15:04:56.780Z,1761577496.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204744,-0.966148,-0.156965],[0.978743,0.200133,0.044813],[-0.011882,-0.162804,0.986587]]
2025-10-27T15:04:56.798Z,1761577496.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.34 m.
2025-10-27T15:04:56.801Z,1761577496.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.341797 m,
      nav range: 356.885437 m,
      bearing: 76.497213 deg,
      approach rate: -0.633039 m/s,
      LOS rate: 0.008188 deg/s,
      cmd heading: 77.915629 deg,
      new cmd heading: 77.924724 deg.

2025-10-27T15:04:56.802Z,1761577496.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360043 target range: 370.341797 and range: 372.10 m.
2025-10-27T15:04:56.916Z,1761577496.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764837
2025-10-27T15:04:57.164Z,1761577497.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013305
2025-10-27T15:04:57.182Z,1761577497.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207739,-0.965490,-0.157077],[0.978136,0.203444,0.043124],[-0.009680,-0.162602,0.986644]]
2025-10-27T15:04:57.229Z,1761577497.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.34 m.
2025-10-27T15:04:57.237Z,1761577497.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.341797 m,
      nav range: 356.620544 m,
      bearing: 76.499699 deg,
      approach rate: -0.615255 m/s,
      LOS rate: 0.005779 deg/s,
      cmd heading: 77.924727 deg,
      new cmd heading: 77.932192 deg.

2025-10-27T15:04:57.238Z,1761577497.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360173 target range: 370.341797 and range: 372.10 m.
2025-10-27T15:04:57.417Z,1761577497.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266026
2025-10-27T15:04:57.587Z,1761577497.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210808,-0.964306,-0.160232],[0.977500,0.206729,0.041909],[-0.007289,-0.165462,0.986189]]
2025-10-27T15:04:57.603Z,1761577497.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:57.605Z,1761577497.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.34 m.
2025-10-27T15:04:57.608Z,1761577497.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.341797 m,
      nav range: 356.389160 m,
      bearing: 76.501988 deg,
      approach rate: -0.614553 m/s,
      LOS rate: 0.006082 deg/s,
      cmd heading: 77.932192 deg,
      new cmd heading: 77.939062 deg.

2025-10-27T15:04:57.609Z,1761577497.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360293 target range: 370.341797 and range: 372.10 m.
2025-10-27T15:04:57.668Z,1761577497.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517778
2025-10-27T15:04:57.922Z,1761577497.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771219
2025-10-27T15:04:58.000Z,1761577498.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213308,-0.963058,-0.164373],[0.976974,0.209470,0.040546],[-0.004617,-0.169237,0.985565]]
2025-10-27T15:04:58.057Z,1761577498.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.34 m.
2025-10-27T15:04:58.060Z,1761577498.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.341797 m,
      nav range: 356.105011 m,
      bearing: 76.502878 deg,
      approach rate: -0.628971 m/s,
      LOS rate: 0.001971 deg/s,
      cmd heading: 77.939063 deg,
      new cmd heading: 77.941735 deg.

2025-10-27T15:04:58.061Z,1761577498.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360340 target range: 370.341797 and range: 372.10 m.
2025-10-27T15:04:58.172Z,1761577498.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021202
2025-10-27T15:04:58.424Z,1761577498.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273630
2025-10-27T15:04:58.465Z,1761577498.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217284,-0.961422,-0.168686],[0.976108,0.214104,0.037041],[0.000504,-0.172704,0.984974]]
2025-10-27T15:04:58.487Z,1761577498.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.34 m.
2025-10-27T15:04:58.493Z,1761577498.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.341797 m,
      nav range: 355.835052 m,
      bearing: 76.503894 deg,
      approach rate: -0.628527 m/s,
      LOS rate: 0.002369 deg/s,
      cmd heading: 77.941734 deg,
      new cmd heading: 77.944786 deg.

2025-10-27T15:04:58.496Z,1761577498.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360393 target range: 370.341797 and range: 372.10 m.
2025-10-27T15:04:58.676Z,1761577498.676 [DAT](INFO): DAT read: Rx Time:15:04:57.1227

2025-10-27T15:04:58.676Z,1761577498.676 [DAT](INFO): Rx dataTimestamp_ set to:1761577498.676167
2025-10-27T15:04:58.677Z,1761577498.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526383
2025-10-27T15:04:58.860Z,1761577498.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218131,-0.961623,-0.166435],[0.975914,0.215491,0.033987],[0.003183,-0.169840,0.985467]]
2025-10-27T15:04:58.878Z,1761577498.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.34 m.
2025-10-27T15:04:58.881Z,1761577498.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.341797 m,
      nav range: 355.589203 m,
      bearing: 76.504862 deg,
      approach rate: -0.628118 m/s,
      LOS rate: 0.002474 deg/s,
      cmd heading: 77.944787 deg,
      new cmd heading: 77.947692 deg.

2025-10-27T15:04:58.882Z,1761577498.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360444 target range: 370.341797 and range: 372.10 m.
2025-10-27T15:04:58.931Z,1761577498.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780151
2025-10-27T15:04:59.185Z,1761577499.185 [DAT](INFO): DAT read: 15:04:57.1227 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 420, 0.06, 0.299,-1.123, 0.485,-0.151, PHS= 0.552,-0.927, 0.592, RAW= 151.3,  -2.9, CAL= 150.7,  -3.9, ROT= 359.3,   3.9

2025-10-27T15:04:59.186Z,1761577499.186 [DAT](INFO): got valid direction response:
 15:04:57.1227 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 420, 0.06, 0.299,-1.123, 0.485,-0.151, PHS= 0.552,-0.927, 0.592, RAW= 151.3,  -2.9, CAL= 150.7,  -3.9, ROT= 359.3,   3.9

2025-10-27T15:04:59.187Z,1761577499.187 [DAT](INFO): DAT read: Bearing 215.0,   0.2 (Local)

2025-10-27T15:04:59.188Z,1761577499.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.0,   0.2 (Local)

2025-10-27T15:04:59.189Z,1761577499.189 [DAT](INFO): DAT read: Range 11 to 50 : 370.8 m  (Round-trip  494.5 ms) speed  0.7 m/s

2025-10-27T15:04:59.190Z,1761577499.190 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:04:59.191Z,1761577499.191 [DAT](INFO): direction in FSK: [0.997610,-0.012189,-0.068015]
2025-10-27T15:04:59.191Z,1761577499.191 [DAT](INFO): publishing direction and range info
2025-10-27T15:04:59.194Z,1761577499.194 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:04:59.194Z,1761577499.194 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:04:59.195Z,1761577499.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:04:59.262Z,1761577499.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218633,-0.961599,-0.165914],[0.975790,0.216469,0.031239],[0.005876,-0.168727,0.985645]]
2025-10-27T15:04:59.376Z,1761577499.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 370.799988 m,
      deltaT: 4.282310 s,
      deltaX: -1.300018 m,
      approachRate: -0.303579 m/s,
      rangeRepo size: 4

2025-10-27T15:04:59.378Z,1761577499.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 369.049042 m,
      bearing: 76.022672 deg,
      lat: 36.779065 deg,
      lon: -121.859374 deg,
      deltaT: 4.282310 s,
      deltaX: -1.292755 m,
      approachRate: -0.301883 m/s,
      posRepo size: 4

2025-10-27T15:04:59.383Z,1761577499.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:04:59.385Z,1761577499.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 360.269318 m,
      bearing: 75.699277 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002474 deg/s,
      cmd heading: 77.947690 deg,
      new cmd heading: 77.951347 deg.

2025-10-27T15:04:59.386Z,1761577499.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360508 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:04:59.433Z,1761577499.433 [DAT](INFO): DAT read: user:905>

2025-10-27T15:04:59.434Z,1761577499.434 [DAT](INFO): DAT read: Tx time:15:04:58.4741

2025-10-27T15:04:59.434Z,1761577499.434 [DAT](INFO): Ping request sent.
2025-10-27T15:04:59.435Z,1761577499.435 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:04:59.435Z,1761577499.435 [DAT](INFO): publishing transmit ping time
2025-10-27T15:04:59.436Z,1761577499.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001717
2025-10-27T15:04:59.666Z,1761577499.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218735,-0.961691,-0.165245],[0.975746,0.217057,0.028372],[0.008582,-0.167443,0.985844]]
2025-10-27T15:04:59.684Z,1761577499.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249535
2025-10-27T15:04:59.702Z,1761577499.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:04:59.708Z,1761577499.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:04:59.715Z,1761577499.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 360.049469 m,
      bearing: 75.698161 deg,
      approach rate: -0.651537 m/s,
      LOS rate: -0.003311 deg/s,
      cmd heading: 77.951344 deg,
      new cmd heading: 77.947993 deg.

2025-10-27T15:04:59.716Z,1761577499.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360449 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:04:59.936Z,1761577499.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501918
2025-10-27T15:05:00.070Z,1761577500.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217778,-0.962163,-0.163755],[0.975933,0.216621,0.025112],[0.011311,-0.165282,0.986181]]
2025-10-27T15:05:00.126Z,1761577500.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:05:00.170Z,1761577500.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 359.740204 m,
      bearing: 75.694899 deg,
      approach rate: -0.740033 m/s,
      LOS rate: -0.007811 deg/s,
      cmd heading: 77.947990 deg,
      new cmd heading: 77.938197 deg.

2025-10-27T15:05:00.174Z,1761577500.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360278 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:05:00.188Z,1761577500.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753641
2025-10-27T15:05:00.441Z,1761577500.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006142
2025-10-27T15:05:00.480Z,1761577500.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217065,-0.962699,-0.161536],[0.976058,0.216408,0.021871],[0.013902,-0.162416,0.986624]]
2025-10-27T15:05:00.511Z,1761577500.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:05:00.517Z,1761577500.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 359.448761 m,
      bearing: 75.691792 deg,
      approach rate: -0.758261 m/s,
      LOS rate: -0.008091 deg/s,
      cmd heading: 77.938196 deg,
      new cmd heading: 77.928867 deg.

2025-10-27T15:05:00.518Z,1761577500.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360115 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:05:00.692Z,1761577500.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257909
2025-10-27T15:05:00.877Z,1761577500.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215299,-0.963133,-0.161312],[0.976409,0.215101,0.018901],[0.016495,-0.161576,0.986722]]
2025-10-27T15:05:00.918Z,1761577500.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:05:00.921Z,1761577500.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 359.162323 m,
      bearing: 75.688652 deg,
      approach rate: -0.702741 m/s,
      LOS rate: -0.007710 deg/s,
      cmd heading: 77.928866 deg,
      new cmd heading: 77.919438 deg.

2025-10-27T15:05:00.922Z,1761577500.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359951 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:05:00.964Z,1761577500.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512140
2025-10-27T15:05:01.197Z,1761577501.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762406
2025-10-27T15:05:01.281Z,1761577501.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213417,-0.963295,-0.162841],[0.976776,0.213635,0.016377],[0.019013,-0.162554,0.986516]]
2025-10-27T15:05:01.334Z,1761577501.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:05:01.337Z,1761577501.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 358.815521 m,
      bearing: 75.683455 deg,
      approach rate: -0.834838 m/s,
      LOS rate: -0.012521 deg/s,
      cmd heading: 77.919440 deg,
      new cmd heading: 77.903837 deg.

2025-10-27T15:05:01.338Z,1761577501.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359678 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:05:01.448Z,1761577501.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013597
2025-10-27T15:05:01.689Z,1761577501.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211128,-0.963513,-0.164525],[0.977218,0.211799,0.013658],[0.021686,-0.163660,0.986278]]
2025-10-27T15:05:01.700Z,1761577501.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265680
2025-10-27T15:05:01.707Z,1761577501.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:01.709Z,1761577501.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:05:01.712Z,1761577501.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 358.520447 m,
      bearing: 75.678914 deg,
      approach rate: -0.786479 m/s,
      LOS rate: -0.012116 deg/s,
      cmd heading: 77.903833 deg,
      new cmd heading: 77.890196 deg.

2025-10-27T15:05:01.713Z,1761577501.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359440 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:05:01.953Z,1761577501.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518999
2025-10-27T15:05:02.091Z,1761577502.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209191,-0.963951,-0.164433],[0.977581,0.210273,0.010997],[0.023975,-0.163047,0.986327]]
2025-10-27T15:05:02.127Z,1761577502.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:05:02.130Z,1761577502.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 358.169159 m,
      bearing: 75.673243 deg,
      approach rate: -0.840072 m/s,
      LOS rate: -0.013575 deg/s,
      cmd heading: 77.890193 deg,
      new cmd heading: 77.873164 deg.

2025-10-27T15:05:02.131Z,1761577502.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359143 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:05:02.205Z,1761577502.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770463
2025-10-27T15:05:02.456Z,1761577502.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021575
2025-10-27T15:05:02.508Z,1761577502.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207088,-0.964410,-0.164401],[0.977963,0.208623,0.008071],[0.026515,-0.162450,0.986360]]
2025-10-27T15:05:02.545Z,1761577502.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:05:02.548Z,1761577502.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 357.833679 m,
      bearing: 75.667701 deg,
      approach rate: -0.803356 m/s,
      LOS rate: -0.013283 deg/s,
      cmd heading: 77.873166 deg,
      new cmd heading: 77.856525 deg.

2025-10-27T15:05:02.549Z,1761577502.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358853 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:05:02.708Z,1761577502.708 [DAT](INFO): DAT read: Rx Time:15:05:01.3675

2025-10-27T15:05:02.708Z,1761577502.708 [DAT](INFO): Rx dataTimestamp_ set to:1761577502.708110
2025-10-27T15:05:02.709Z,1761577502.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274568
2025-10-27T15:05:02.904Z,1761577502.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204615,-0.965021,-0.163910],[0.978398,0.206678,0.004556],[0.029480,-0.161301,0.986465]]
2025-10-27T15:05:02.922Z,1761577502.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:05:02.925Z,1761577502.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 357.505127 m,
      bearing: 75.662131 deg,
      approach rate: -0.870498 m/s,
      LOS rate: -0.014771 deg/s,
      cmd heading: 77.856527 deg,
      new cmd heading: 77.839802 deg.

2025-10-27T15:05:02.926Z,1761577502.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358561 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:05:02.965Z,1761577502.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530436
2025-10-27T15:05:03.216Z,1761577503.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781494
2025-10-27T15:05:03.304Z,1761577503.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202213,-0.965521,-0.163951],[0.978806,0.204784,0.001241],[0.032377,-0.160727,0.986468]]
2025-10-27T15:05:03.345Z,1761577503.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.05 m.
2025-10-27T15:05:03.348Z,1761577503.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.049042 m,
      nav range: 357.140778 m,
      bearing: 75.655748 deg,
      approach rate: -0.860876 m/s,
      LOS rate: -0.015097 deg/s,
      cmd heading: 77.839800 deg,
      new cmd heading: 77.820632 deg.

2025-10-27T15:05:03.349Z,1761577503.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358226 target range: 369.049042 and range: 370.80 m.
2025-10-27T15:05:03.473Z,1761577503.473 [DAT](INFO): DAT read: 15:05:01.3675 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 209, 0.15,-2.046, 2.750,-1.643,-2.209, PHS= 0.265,-1.279, 0.522, RAW= 157.6,   5.9, CAL= 156.8,   5.6, ROT= 353.2,  -5.6

2025-10-27T15:05:03.474Z,1761577503.474 [DAT](INFO): got valid direction response:
 15:05:01.3675 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 209, 0.15,-2.046, 2.750,-1.643,-2.209, PHS= 0.265,-1.279, 0.522, RAW= 157.6,   5.9, CAL= 156.8,   5.6, ROT= 353.2,  -5.6

2025-10-27T15:05:03.484Z,1761577503.484 [DAT](INFO): DAT read: Bearing 223.7,  -6.0 (Local)

2025-10-27T15:05:03.484Z,1761577503.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.7,  -6.0 (Local)

2025-10-27T15:05:03.488Z,1761577503.488 [DAT](INFO): DAT read: Range 11 to 50 : 366.9 m  (Round-trip  489.3 ms) speed  0.4 m/s

2025-10-27T15:05:03.488Z,1761577503.488 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:03.490Z,1761577503.490 [DAT](INFO): direction in FSK: [0.988227,-0.117839,0.097583]
2025-10-27T15:05:03.515Z,1761577503.515 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:03.532Z,1761577503.532 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:03.532Z,1761577503.532 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:03.532Z,1761577503.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:03.720Z,1761577503.720 [DAT](INFO): DAT read: user:906>

2025-10-27T15:05:03.721Z,1761577503.721 [DAT](INFO): DAT read: Tx time:15:05:02.8240

2025-10-27T15:05:03.722Z,1761577503.722 [DAT](INFO): Ping request sent.
2025-10-27T15:05:03.722Z,1761577503.722 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:03.722Z,1761577503.722 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:03.723Z,1761577503.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001443
2025-10-27T15:05:03.779Z,1761577503.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199848,-0.966027,-0.163865],[0.979187,0.202947,-0.002221],[0.035401,-0.160011,0.986480]]
2025-10-27T15:05:03.828Z,1761577503.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 366.899994 m,
      deltaT: 4.288014 s,
      deltaX: -3.899994 m,
      approachRate: -0.909511 m/s,
      rangeRepo size: 4

2025-10-27T15:05:03.830Z,1761577503.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 365.169617 m,
      bearing: 72.618981 deg,
      lat: 36.779158 deg,
      lon: -121.859374 deg,
      deltaT: 4.288014 s,
      deltaX: -3.879425 m,
      approachRate: -0.904714 m/s,
      posRepo size: 4

2025-10-27T15:05:03.831Z,1761577503.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.17 m.
2025-10-27T15:05:03.837Z,1761577503.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.169617 m,
      nav range: 359.449371 m,
      bearing: 74.050074 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015097 deg/s,
      cmd heading: 77.820635 deg,
      new cmd heading: 77.799034 deg.

2025-10-27T15:05:03.838Z,1761577503.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357849 target range: 365.169617 and range: 366.90 m.
2025-10-27T15:05:03.973Z,1761577503.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813
2025-10-27T15:05:04.224Z,1761577504.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502071
2025-10-27T15:05:04.256Z,1761577504.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:04.259Z,1761577504.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.17 m.
2025-10-27T15:05:04.261Z,1761577504.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.169617 m,
      nav range: 359.087860 m,
      bearing: 74.042720 deg,
      approach rate: -0.828633 m/s,
      LOS rate: -0.016874 deg/s,
      cmd heading: 77.799031 deg,
      new cmd heading: 77.776946 deg.

2025-10-27T15:05:04.262Z,1761577504.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357464 target range: 365.169617 and range: 366.90 m.
2025-10-27T15:05:04.477Z,1761577504.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754613
2025-10-27T15:05:04.705Z,1761577504.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195239,-0.966295,-0.167797],[0.979848,0.199542,-0.009012],[0.042191,-0.162657,0.985780]]
2025-10-27T15:05:04.729Z,1761577504.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006859
2025-10-27T15:05:04.735Z,1761577504.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.17 m.
2025-10-27T15:05:04.739Z,1761577504.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.169617 m,
      nav range: 358.672760 m,
      bearing: 74.033946 deg,
      approach rate: -0.872336 m/s,
      LOS rate: -0.018460 deg/s,
      cmd heading: 77.776949 deg,
      new cmd heading: 77.750597 deg.

2025-10-27T15:05:04.741Z,1761577504.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357004 target range: 365.169617 and range: 366.90 m.
2025-10-27T15:05:04.981Z,1761577504.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259208
2025-10-27T15:05:05.160Z,1761577505.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.17 m.
2025-10-27T15:05:05.163Z,1761577505.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.169617 m,
      nav range: 358.319550 m,
      bearing: 74.026987 deg,
      approach rate: -0.829456 m/s,
      LOS rate: -0.016358 deg/s,
      cmd heading: 77.750598 deg,
      new cmd heading: 77.729700 deg.

2025-10-27T15:05:05.164Z,1761577505.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356639 target range: 365.169617 and range: 366.90 m.
2025-10-27T15:05:05.232Z,1761577505.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510513
2025-10-27T15:05:05.485Z,1761577505.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762906
2025-10-27T15:05:05.509Z,1761577505.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190412,-0.967298,-0.167563],[0.980506,0.195819,-0.016207],[0.048489,-0.161210,0.985728]]
2025-10-27T15:05:05.538Z,1761577505.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.17 m.
2025-10-27T15:05:05.541Z,1761577505.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.169617 m,
      nav range: 358.011230 m,
      bearing: 74.020655 deg,
      approach rate: -0.815394 m/s,
      LOS rate: -0.016761 deg/s,
      cmd heading: 77.729697 deg,
      new cmd heading: 77.710684 deg.

2025-10-27T15:05:05.542Z,1761577505.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356307 target range: 365.169617 and range: 366.90 m.
2025-10-27T15:05:05.737Z,1761577505.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014532
2025-10-27T15:05:05.902Z,1761577505.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188305,-0.967504,-0.168754],[0.980776,0.194208,-0.019033],[0.051187,-0.161926,0.985474]]
2025-10-27T15:05:05.921Z,1761577505.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.17 m.
2025-10-27T15:05:05.924Z,1761577505.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.169617 m,
      nav range: 357.699036 m,
      bearing: 74.014125 deg,
      approach rate: -0.814881 m/s,
      LOS rate: -0.017060 deg/s,
      cmd heading: 77.710682 deg,
      new cmd heading: 77.691075 deg.

2025-10-27T15:05:05.925Z,1761577505.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355965 target range: 365.169617 and range: 366.90 m.
2025-10-27T15:05:05.989Z,1761577505.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267107
2025-10-27T15:05:06.240Z,1761577506.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518001
2025-10-27T15:05:06.302Z,1761577506.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186791,-0.967339,-0.171364],[0.980943,0.193151,-0.021074],[0.053485,-0.164162,0.984982]]
2025-10-27T15:05:06.351Z,1761577506.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:06.353Z,1761577506.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.17 m.
2025-10-27T15:05:06.356Z,1761577506.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.169617 m,
      nav range: 357.370972 m,
      bearing: 74.009747 deg,
      approach rate: -0.759643 m/s,
      LOS rate: -0.010147 deg/s,
      cmd heading: 77.691073 deg,
      new cmd heading: 77.677926 deg.

2025-10-27T15:05:06.357Z,1761577506.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355736 target range: 365.169617 and range: 366.90 m.
2025-10-27T15:05:06.493Z,1761577506.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770829
2025-10-27T15:05:06.706Z,1761577506.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186053,-0.966962,-0.174266],[0.980979,0.192805,-0.022501],[0.055357,-0.166765,0.984441]]
2025-10-27T15:05:06.745Z,1761577506.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022739
2025-10-27T15:05:06.748Z,1761577506.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.17 m.
2025-10-27T15:05:06.753Z,1761577506.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.169617 m,
      nav range: 357.076752 m,
      bearing: 74.005783 deg,
      approach rate: -0.745468 m/s,
      LOS rate: -0.010052 deg/s,
      cmd heading: 77.677925 deg,
      new cmd heading: 77.666023 deg.

2025-10-27T15:05:06.754Z,1761577506.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355528 target range: 365.169617 and range: 366.90 m.
2025-10-27T15:05:06.997Z,1761577506.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274461
2025-10-27T15:05:07.114Z,1761577507.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186234,-0.966493,-0.176656],[0.980858,0.193299,-0.023509],[0.056868,-0.168897,0.983992]]
2025-10-27T15:05:07.166Z,1761577507.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.17 m.
2025-10-27T15:05:07.169Z,1761577507.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.169617 m,
      nav range: 356.781219 m,
      bearing: 74.002587 deg,
      approach rate: -0.707358 m/s,
      LOS rate: -0.007656 deg/s,
      cmd heading: 77.666020 deg,
      new cmd heading: 77.656423 deg.

2025-10-27T15:05:07.170Z,1761577507.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355360 target range: 365.169617 and range: 366.90 m.
2025-10-27T15:05:07.249Z,1761577507.249 [DAT](INFO): DAT read: Rx Time:15:05:05.7132

2025-10-27T15:05:07.249Z,1761577507.249 [DAT](INFO): Rx dataTimestamp_ set to:1761577507.248956
2025-10-27T15:05:07.250Z,1761577507.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528218
2025-10-27T15:05:07.501Z,1761577507.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778859
2025-10-27T15:05:07.518Z,1761577507.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186724,-0.966131,-0.178112],[0.980675,0.194082,-0.024663],[0.058396,-0.170065,0.983701]]
2025-10-27T15:05:07.548Z,1761577507.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.17 m.
2025-10-27T15:05:07.551Z,1761577507.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.169617 m,
      nav range: 356.515228 m,
      bearing: 73.999729 deg,
      approach rate: -0.695944 m/s,
      LOS rate: -0.007482 deg/s,
      cmd heading: 77.656423 deg,
      new cmd heading: 77.647845 deg.

2025-10-27T15:05:07.552Z,1761577507.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355211 target range: 365.169617 and range: 366.90 m.
2025-10-27T15:05:07.758Z,1761577507.758 [DAT](INFO): DAT read: 15:05:05.7132 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 398, 0.31,-0.821,-2.170,-0.634,-1.211, PHS= 0.493,-0.914, 0.533, RAW= 151.4,  -1.6, CAL= 150.5,  -2.5, ROT= 359.5,   2.5

2025-10-27T15:05:07.760Z,1761577507.760 [DAT](INFO): got valid direction response:
 15:05:05.7132 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 398, 0.31,-0.821,-2.170,-0.634,-1.211, PHS= 0.493,-0.914, 0.533, RAW= 151.4,  -1.6, CAL= 150.5,  -2.5, ROT= 359.5,   2.5

2025-10-27T15:05:07.761Z,1761577507.761 [DAT](INFO): DAT read: Bearing 216.6,   2.9 (Local)

2025-10-27T15:05:07.761Z,1761577507.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.6,   2.9 (Local)

2025-10-27T15:05:07.762Z,1761577507.762 [DAT](INFO): DAT read: Range 11 to 50 : 363.8 m  (Round-trip  485.1 ms) speed  0.3 m/s

2025-10-27T15:05:07.765Z,1761577507.765 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:07.769Z,1761577507.769 [DAT](INFO): direction in FSK: [0.999010,-0.008718,-0.043619]
2025-10-27T15:05:07.770Z,1761577507.770 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:07.774Z,1761577507.774 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:07.774Z,1761577507.774 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:07.774Z,1761577507.774 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:07.968Z,1761577507.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 363.799988 m,
      deltaT: 4.284452 s,
      deltaX: -3.100006 m,
      approachRate: -0.723548 m/s,
      rangeRepo size: 4

2025-10-27T15:05:07.970Z,1761577507.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 362.085144 m,
      bearing: 78.301587 deg,
      lat: 36.779065 deg,
      lon: -121.859280 deg,
      deltaT: 4.284452 s,
      deltaX: -3.084473 m,
      approachRate: -0.719922 m/s,
      posRepo size: 4

2025-10-27T15:05:07.973Z,1761577507.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:07.986Z,1761577507.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 361.643219 m,
      bearing: 75.939533 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007482 deg/s,
      cmd heading: 77.647844 deg,
      new cmd heading: 77.638442 deg.

2025-10-27T15:05:07.988Z,1761577507.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355046 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:08.004Z,1761577508.004 [DAT](INFO): DAT read: user:907>

2025-10-27T15:05:08.005Z,1761577508.005 [DAT](INFO): DAT read: Tx time:15:05:07.0240

2025-10-27T15:05:08.005Z,1761577508.005 [DAT](INFO): Ping request sent.
2025-10-27T15:05:08.005Z,1761577508.005 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:08.005Z,1761577508.005 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:08.006Z,1761577508.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-27T15:05:08.256Z,1761577508.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250842
2025-10-27T15:05:08.326Z,1761577508.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189030,-0.965189,-0.180768],[0.980085,0.196847,-0.026159],[0.060832,-0.172223,0.983178]]
2025-10-27T15:05:08.395Z,1761577508.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:08.417Z,1761577508.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:08.428Z,1761577508.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 361.375214 m,
      bearing: 75.938361 deg,
      approach rate: -0.595560 m/s,
      LOS rate: -0.002605 deg/s,
      cmd heading: 77.638439 deg,
      new cmd heading: 77.634922 deg.

2025-10-27T15:05:08.429Z,1761577508.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354985 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:08.509Z,1761577508.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503808
2025-10-27T15:05:08.734Z,1761577508.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191199,-0.964892,-0.180074],[0.979604,0.199130,-0.026879],[0.061794,-0.171262,0.983286]]
2025-10-27T15:05:08.760Z,1761577508.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754932
2025-10-27T15:05:08.762Z,1761577508.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:08.781Z,1761577508.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 361.144775 m,
      bearing: 75.937433 deg,
      approach rate: -0.667026 m/s,
      LOS rate: -0.002688 deg/s,
      cmd heading: 77.634922 deg,
      new cmd heading: 77.632136 deg.

2025-10-27T15:05:08.782Z,1761577508.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354936 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:09.013Z,1761577509.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007506
2025-10-27T15:05:09.145Z,1761577509.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193518,-0.964346,-0.180521],[0.979099,0.201563,-0.027164],[0.062582,-0.171491,0.983196]]
2025-10-27T15:05:09.182Z,1761577509.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:09.205Z,1761577509.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 360.892975 m,
      bearing: 75.937545 deg,
      approach rate: -0.600237 m/s,
      LOS rate: 0.000267 deg/s,
      cmd heading: 77.632135 deg,
      new cmd heading: 77.632471 deg.

2025-10-27T15:05:09.206Z,1761577509.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354942 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:09.264Z,1761577509.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259042
2025-10-27T15:05:09.516Z,1761577509.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510864
2025-10-27T15:05:09.546Z,1761577509.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195516,-0.963892,-0.180792],[0.978650,0.203677,-0.027550],[0.063379,-0.171546,0.983135]]
2025-10-27T15:05:09.565Z,1761577509.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:09.568Z,1761577509.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 360.664551 m,
      bearing: 75.937721 deg,
      approach rate: -0.595633 m/s,
      LOS rate: 0.000460 deg/s,
      cmd heading: 77.632470 deg,
      new cmd heading: 77.632999 deg.

2025-10-27T15:05:09.569Z,1761577509.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354951 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:09.768Z,1761577509.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763126
2025-10-27T15:05:09.945Z,1761577509.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197751,-0.963377,-0.181108],[0.978160,0.205997,-0.027720],[0.064013,-0.171671,0.983072]]
2025-10-27T15:05:10.002Z,1761577510.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:10.009Z,1761577510.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 360.422028 m,
      bearing: 75.937997 deg,
      approach rate: -0.554800 m/s,
      LOS rate: 0.000631 deg/s,
      cmd heading: 77.632996 deg,
      new cmd heading: 77.633824 deg.

2025-10-27T15:05:10.010Z,1761577510.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354966 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:10.020Z,1761577510.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015005
2025-10-27T15:05:10.273Z,1761577510.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267600
2025-10-27T15:05:10.346Z,1761577510.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200519,-0.962508,-0.182678],[0.977553,0.208880,-0.027539],[0.064665,-0.173055,0.982787]]
2025-10-27T15:05:10.397Z,1761577510.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:10.399Z,1761577510.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:10.402Z,1761577510.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 360.166901 m,
      bearing: 75.938472 deg,
      approach rate: -0.643646 m/s,
      LOS rate: 0.001199 deg/s,
      cmd heading: 77.633822 deg,
      new cmd heading: 77.635248 deg.

2025-10-27T15:05:10.403Z,1761577510.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354991 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:10.524Z,1761577510.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518846
2025-10-27T15:05:10.758Z,1761577510.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202942,-0.961839,-0.183520],[0.976997,0.211437,-0.027765],[0.065509,-0.173664,0.982624]]
2025-10-27T15:05:10.776Z,1761577510.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771006
2025-10-27T15:05:10.779Z,1761577510.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:10.782Z,1761577510.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 359.939545 m,
      bearing: 75.938986 deg,
      approach rate: -0.598285 m/s,
      LOS rate: 0.001352 deg/s,
      cmd heading: 77.635250 deg,
      new cmd heading: 77.636791 deg.

2025-10-27T15:05:10.783Z,1761577510.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355018 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:11.028Z,1761577511.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022831
2025-10-27T15:05:11.172Z,1761577511.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205507,-0.961075,-0.184666],[0.976408,0.214132,-0.027827],[0.066287,-0.174591,0.982407]]
2025-10-27T15:05:11.225Z,1761577511.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:11.232Z,1761577511.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 359.680115 m,
      bearing: 75.939237 deg,
      approach rate: -0.580966 m/s,
      LOS rate: 0.000563 deg/s,
      cmd heading: 77.636793 deg,
      new cmd heading: 77.637547 deg.

2025-10-27T15:05:11.233Z,1761577511.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355031 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:11.283Z,1761577511.283 [DAT](INFO): DAT read: Rx Time:15:05:09.9093

2025-10-27T15:05:11.284Z,1761577511.284 [DAT](INFO): Rx dataTimestamp_ set to:1761577511.283327
2025-10-27T15:05:11.284Z,1761577511.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279095
2025-10-27T15:05:11.532Z,1761577511.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527065
2025-10-27T15:05:11.566Z,1761577511.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208025,-0.960518,-0.184746],[0.975809,0.216783,-0.028317],[0.067248,-0.174386,0.982378]]
2025-10-27T15:05:11.584Z,1761577511.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:11.587Z,1761577511.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 359.453796 m,
      bearing: 75.939550 deg,
      approach rate: -0.631391 m/s,
      LOS rate: 0.000875 deg/s,
      cmd heading: 77.637545 deg,
      new cmd heading: 77.638485 deg.

2025-10-27T15:05:11.588Z,1761577511.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355047 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:11.787Z,1761577511.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781403
2025-10-27T15:05:11.962Z,1761577511.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210210,-0.959839,-0.185799],[0.975268,0.219150,-0.028723],[0.068288,-0.175166,0.982168]]
2025-10-27T15:05:12.021Z,1761577512.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.09 m.
2025-10-27T15:05:12.028Z,1761577512.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.085144 m,
      nav range: 359.195068 m,
      bearing: 75.940001 deg,
      approach rate: -0.591944 m/s,
      LOS rate: 0.001031 deg/s,
      cmd heading: 77.638487 deg,
      new cmd heading: 77.639840 deg.

2025-10-27T15:05:12.029Z,1761577512.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355071 target range: 362.085144 and range: 363.80 m.
2025-10-27T15:05:12.041Z,1761577512.041 [DAT](INFO): DAT read: 15:05:09.9093 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 219, 0.09, 0.676,-0.822, 1.040, 0.435, PHS= 0.343,-1.211, 0.562, RAW= 156.5,   3.7, CAL= 155.4,   3.0, ROT= 354.6,  -3.0

2025-10-27T15:05:12.043Z,1761577512.043 [DAT](INFO): got valid direction response:
 15:05:09.9093 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 219, 0.09, 0.676,-0.822, 1.040, 0.435, PHS= 0.343,-1.211, 0.562, RAW= 156.5,   3.7, CAL= 155.4,   3.0, ROT= 354.6,  -3.0

2025-10-27T15:05:12.044Z,1761577512.044 [DAT](INFO): DAT read: Bearing 220.8,  -1.7 (Local)

2025-10-27T15:05:12.044Z,1761577512.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.8,  -1.7 (Local)

2025-10-27T15:05:12.045Z,1761577512.045 [DAT](INFO): DAT read: Range 11 to 50 : 360.9 m  (Round-trip  481.2 ms) speed  0.9 m/s

2025-10-27T15:05:12.051Z,1761577512.051 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:12.053Z,1761577512.053 [DAT](INFO): direction in FSK: [0.994198,-0.093979,0.052336]
2025-10-27T15:05:12.053Z,1761577512.053 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:12.076Z,1761577512.076 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:12.077Z,1761577512.077 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:12.077Z,1761577512.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:12.288Z,1761577512.288 [DAT](INFO): DAT read: user:908>

2025-10-27T15:05:12.289Z,1761577512.289 [DAT](INFO): DAT read: Tx time:15:05:11.3240

2025-10-27T15:05:12.289Z,1761577512.289 [DAT](INFO): Ping request sent.
2025-10-27T15:05:12.289Z,1761577512.289 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:12.289Z,1761577512.289 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:12.290Z,1761577512.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-10-27T15:05:12.408Z,1761577512.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211965,-0.959462,-0.185753],[0.974800,0.221099,-0.029677],[0.069544,-0.174782,0.982148]]
2025-10-27T15:05:12.491Z,1761577512.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 360.899994 m,
      deltaT: 4.283831 s,
      deltaX: -2.899994 m,
      approachRate: -0.676963 m/s,
      rangeRepo size: 4

2025-10-27T15:05:12.499Z,1761577512.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 359.198792 m,
      bearing: 72.905210 deg,
      lat: 36.779065 deg,
      lon: -121.859280 deg,
      deltaT: 4.283831 s,
      deltaX: -2.886353 m,
      approachRate: -0.673778 m/s,
      posRepo size: 4

2025-10-27T15:05:12.500Z,1761577512.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.20 m.
2025-10-27T15:05:12.502Z,1761577512.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.198792 m,
      nav range: 358.902374 m,
      bearing: 75.939234 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001031 deg/s,
      cmd heading: 77.639839 deg,
      new cmd heading: 77.641239 deg.

2025-10-27T15:05:12.507Z,1761577512.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355095 target range: 359.198792 and range: 360.90 m.
2025-10-27T15:05:12.540Z,1761577512.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250957
2025-10-27T15:05:12.792Z,1761577512.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502896
2025-10-27T15:05:12.810Z,1761577512.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213594,-0.958852,-0.187032],[0.974339,0.223003,-0.030551],[0.071002,-0.175707,0.981879]]
2025-10-27T15:05:12.838Z,1761577512.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:12.841Z,1761577512.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.20 m.
2025-10-27T15:05:12.844Z,1761577512.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.198792 m,
      nav range: 358.655365 m,
      bearing: 75.938651 deg,
      approach rate: -0.672714 m/s,
      LOS rate: -0.001589 deg/s,
      cmd heading: 77.641240 deg,
      new cmd heading: 77.639489 deg.

2025-10-27T15:05:12.845Z,1761577512.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355065 target range: 359.198792 and range: 360.90 m.
2025-10-27T15:05:13.045Z,1761577513.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755561
2025-10-27T15:05:13.213Z,1761577513.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214653,-0.958504,-0.187603],[0.973989,0.224349,-0.031824],[0.072592,-0.175892,0.981729]]
2025-10-27T15:05:13.267Z,1761577513.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.20 m.
2025-10-27T15:05:13.270Z,1761577513.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.198792 m,
      nav range: 358.362213 m,
      bearing: 75.936668 deg,
      approach rate: -0.687082 m/s,
      LOS rate: -0.004649 deg/s,
      cmd heading: 77.639491 deg,
      new cmd heading: 77.633540 deg.

2025-10-27T15:05:13.271Z,1761577513.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354961 target range: 359.198792 and range: 360.90 m.
2025-10-27T15:05:13.296Z,1761577513.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006777
2025-10-27T15:05:13.548Z,1761577513.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259076
2025-10-27T15:05:13.620Z,1761577513.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215597,-0.958214,-0.188000],[0.973663,0.225573,-0.033130],[0.074153,-0.175905,0.981610]]
2025-10-27T15:05:13.638Z,1761577513.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.20 m.
2025-10-27T15:05:13.641Z,1761577513.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.198792 m,
      nav range: 358.107391 m,
      bearing: 75.934983 deg,
      approach rate: -0.686383 m/s,
      LOS rate: -0.004542 deg/s,
      cmd heading: 77.633542 deg,
      new cmd heading: 77.628483 deg.

2025-10-27T15:05:13.642Z,1761577513.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354873 target range: 359.198792 and range: 360.90 m.
2025-10-27T15:05:13.800Z,1761577513.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510947
2025-10-27T15:05:14.021Z,1761577514.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216308,-0.958414,-0.186154],[0.973404,0.226443,-0.034764],[0.075471,-0.173683,0.981905]]
2025-10-27T15:05:14.054Z,1761577514.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765378
2025-10-27T15:05:14.061Z,1761577514.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.20 m.
2025-10-27T15:05:14.064Z,1761577514.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.198792 m,
      nav range: 357.822601 m,
      bearing: 75.933137 deg,
      approach rate: -0.673893 m/s,
      LOS rate: -0.004373 deg/s,
      cmd heading: 77.628481 deg,
      new cmd heading: 77.622937 deg.

2025-10-27T15:05:14.065Z,1761577514.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354776 target range: 359.198792 and range: 360.90 m.
2025-10-27T15:05:14.304Z,1761577514.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014871
2025-10-27T15:05:14.399Z,1761577514.399 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:05:14.426Z,1761577514.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216486,-0.958488,-0.185564],[0.973243,0.226872,-0.036429],[0.077016,-0.172712,0.981957]]
2025-10-27T15:05:14.510Z,1761577514.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.20 m.
2025-10-27T15:05:14.517Z,1761577514.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.198792 m,
      nav range: 357.490051 m,
      bearing: 75.930616 deg,
      approach rate: -0.740913 m/s,
      LOS rate: -0.005621 deg/s,
      cmd heading: 77.622935 deg,
      new cmd heading: 77.615366 deg.

2025-10-27T15:05:14.518Z,1761577514.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354644 target range: 359.198792 and range: 360.90 m.
2025-10-27T15:05:14.556Z,1761577514.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267124
2025-10-27T15:05:14.808Z,1761577514.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518883
2025-10-27T15:05:15.014Z,1761577515.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217075,-0.958671,-0.183925],[0.972978,0.227681,-0.038400],[0.078690,-0.170620,0.982190]]
2025-10-27T15:05:15.030Z,1761577515.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:15.033Z,1761577515.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.20 m.
2025-10-27T15:05:15.036Z,1761577515.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.198792 m,
      nav range: 357.083740 m,
      bearing: 75.927578 deg,
      approach rate: -0.777307 m/s,
      LOS rate: -0.005819 deg/s,
      cmd heading: 77.615367 deg,
      new cmd heading: 77.606241 deg.

2025-10-27T15:05:15.036Z,1761577515.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354484 target range: 359.198792 and range: 360.90 m.
2025-10-27T15:05:15.060Z,1761577515.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770819
2025-10-27T15:05:15.312Z,1761577515.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023023
2025-10-27T15:05:15.388Z,1761577515.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216504,-0.958903,-0.183388],[0.973071,0.227172,-0.039055],[0.079110,-0.169994,0.982265]]
2025-10-27T15:05:15.403Z,1761577515.403 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:05:15.446Z,1761577515.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.20 m.
2025-10-27T15:05:15.453Z,1761577515.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.198792 m,
      nav range: 356.772919 m,
      bearing: 75.924854 deg,
      approach rate: -0.751752 m/s,
      LOS rate: -0.006594 deg/s,
      cmd heading: 77.606242 deg,
      new cmd heading: 77.598063 deg.

2025-10-27T15:05:15.454Z,1761577515.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354342 target range: 359.198792 and range: 360.90 m.
2025-10-27T15:05:15.564Z,1761577515.564 [DAT](INFO): DAT read: Rx Time:15:05:14.2047

2025-10-27T15:05:15.565Z,1761577515.565 [DAT](INFO): Rx dataTimestamp_ set to:1761577515.564354
2025-10-27T15:05:15.565Z,1761577515.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276211
2025-10-27T15:05:15.816Z,1761577515.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526829
2025-10-27T15:05:15.992Z,1761577515.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.20 m.
2025-10-27T15:05:15.994Z,1761577515.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.198792 m,
      nav range: 356.342773 m,
      bearing: 75.921076 deg,
      approach rate: -0.788590 m/s,
      LOS rate: -0.006934 deg/s,
      cmd heading: 77.598066 deg,
      new cmd heading: 77.586720 deg.

2025-10-27T15:05:15.997Z,1761577515.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354144 target range: 359.198792 and range: 360.90 m.
2025-10-27T15:05:16.072Z,1761577516.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781584
2025-10-27T15:05:16.325Z,1761577516.325 [DAT](INFO): DAT read: 15:05:14.2047 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 397, 0.07,-1.984, 2.797,-1.640,-2.244, PHS= 0.362,-1.197, 0.560, RAW= 155.9,   3.3, CAL= 154.8,   2.6, ROT= 355.2,  -2.6

2025-10-27T15:05:16.326Z,1761577516.326 [DAT](INFO): got valid direction response:
 15:05:14.2047 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 397, 0.07,-1.984, 2.797,-1.640,-2.244, PHS= 0.362,-1.197, 0.560, RAW= 155.9,   3.3, CAL= 154.8,   2.6, ROT= 355.2,  -2.6

2025-10-27T15:05:16.327Z,1761577516.327 [DAT](INFO): DAT read: Bearing 220.4,  -0.4 (Local)

2025-10-27T15:05:16.328Z,1761577516.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.4,  -0.4 (Local)

2025-10-27T15:05:16.329Z,1761577516.329 [DAT](INFO): DAT read: Range 11 to 50 : 357.4 m  (Round-trip  476.6 ms) speed  0.9 m/s

2025-10-27T15:05:16.329Z,1761577516.329 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:16.330Z,1761577516.330 [DAT](INFO): direction in FSK: [0.995467,-0.083592,0.045363]
2025-10-27T15:05:16.331Z,1761577516.331 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:16.334Z,1761577516.334 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:16.334Z,1761577516.334 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:16.334Z,1761577516.334 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:16.429Z,1761577516.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214031,-0.959622,-0.182529],[0.973627,0.224685,-0.039591],[0.079004,-0.169241,0.982403]]
2025-10-27T15:05:16.538Z,1761577516.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 357.399994 m,
      deltaT: 4.283666 s,
      deltaX: -3.500000 m,
      approachRate: -0.817057 m/s,
      rangeRepo size: 4

2025-10-27T15:05:16.549Z,1761577516.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 355.715973 m,
      bearing: 73.278249 deg,
      lat: 36.779198 deg,
      lon: -121.859367 deg,
      deltaT: 4.283666 s,
      deltaX: -3.482819 m,
      approachRate: -0.813046 m/s,
      posRepo size: 4

2025-10-27T15:05:16.549Z,1761577516.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.72 m.
2025-10-27T15:05:16.556Z,1761577516.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.715973 m,
      nav range: 352.342438 m,
      bearing: 73.277022 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006934 deg/s,
      cmd heading: 77.586721 deg,
      new cmd heading: 77.575360 deg.

2025-10-27T15:05:16.557Z,1761577516.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353945 target range: 355.715973 and range: 357.40 m.
2025-10-27T15:05:16.572Z,1761577516.572 [DAT](INFO): DAT read: user:909>

2025-10-27T15:05:16.573Z,1761577516.573 [DAT](INFO): DAT read: Tx time:15:05:15.6240

2025-10-27T15:05:16.573Z,1761577516.573 [DAT](INFO): Ping request sent.
2025-10-27T15:05:16.573Z,1761577516.573 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:16.573Z,1761577516.573 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:16.574Z,1761577516.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-27T15:05:16.825Z,1761577516.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251356
2025-10-27T15:05:16.885Z,1761577516.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211249,-0.960372,-0.181822],[0.974281,0.221819,-0.039669],[0.078429,-0.168766,0.982531]]
2025-10-27T15:05:16.919Z,1761577516.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.72 m.
2025-10-27T15:05:16.922Z,1761577516.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.715973 m,
      nav range: 352.030701 m,
      bearing: 73.271174 deg,
      approach rate: -0.854053 m/s,
      LOS rate: -0.016035 deg/s,
      cmd heading: 77.575362 deg,
      new cmd heading: 77.557803 deg.

2025-10-27T15:05:16.923Z,1761577516.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353639 target range: 355.715973 and range: 357.40 m.
2025-10-27T15:05:17.076Z,1761577517.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832
2025-10-27T15:05:17.282Z,1761577517.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209498,-0.961154,-0.179703],[0.974674,0.219973,-0.040267],[0.078232,-0.166716,0.982896]]
2025-10-27T15:05:17.324Z,1761577517.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:17.326Z,1761577517.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.72 m.
2025-10-27T15:05:17.328Z,1761577517.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755006
2025-10-27T15:05:17.331Z,1761577517.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.715973 m,
      nav range: 351.683197 m,
      bearing: 73.264963 deg,
      approach rate: -0.820222 m/s,
      LOS rate: -0.014674 deg/s,
      cmd heading: 77.557802 deg,
      new cmd heading: 77.539151 deg.

2025-10-27T15:05:17.332Z,1761577517.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353313 target range: 355.715973 and range: 357.40 m.
2025-10-27T15:05:17.580Z,1761577517.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007260
2025-10-27T15:05:17.686Z,1761577517.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207795,-0.962056,-0.176831],[0.975088,0.218073,-0.040602],[0.077624,-0.163989,0.983403]]
2025-10-27T15:05:17.705Z,1761577517.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.72 m.
2025-10-27T15:05:17.708Z,1761577517.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.715973 m,
      nav range: 351.371521 m,
      bearing: 73.259293 deg,
      approach rate: -0.823675 m/s,
      LOS rate: -0.014998 deg/s,
      cmd heading: 77.539149 deg,
      new cmd heading: 77.522123 deg.

2025-10-27T15:05:17.709Z,1761577517.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353016 target range: 355.715973 and range: 357.40 m.
2025-10-27T15:05:17.832Z,1761577517.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258871
2025-10-27T15:05:18.084Z,1761577518.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511321
2025-10-27T15:05:18.092Z,1761577518.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206254,-0.962916,-0.173931],[0.975456,0.216346,-0.040998],[0.077106,-0.161206,0.983904]]
2025-10-27T15:05:18.110Z,1761577518.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.72 m.
2025-10-27T15:05:18.125Z,1761577518.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.715973 m,
      nav range: 351.038727 m,
      bearing: 73.253142 deg,
      approach rate: -0.820853 m/s,
      LOS rate: -0.015185 deg/s,
      cmd heading: 77.522121 deg,
      new cmd heading: 77.503652 deg.

2025-10-27T15:05:18.126Z,1761577518.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352694 target range: 355.715973 and range: 357.40 m.
2025-10-27T15:05:18.337Z,1761577518.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763430
2025-10-27T15:05:18.572Z,1761577518.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204871,-0.963599,-0.171771],[0.975794,0.214793,-0.041113],[0.076511,-0.159191,0.984279]]
2025-10-27T15:05:18.588Z,1761577518.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014906
2025-10-27T15:05:18.639Z,1761577518.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.72 m.
2025-10-27T15:05:18.642Z,1761577518.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.715973 m,
      nav range: 350.633575 m,
      bearing: 73.245535 deg,
      approach rate: -0.771951 m/s,
      LOS rate: -0.014511 deg/s,
      cmd heading: 77.503652 deg,
      new cmd heading: 77.480805 deg.

2025-10-27T15:05:18.647Z,1761577518.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352295 target range: 355.715973 and range: 357.40 m.
2025-10-27T15:05:18.840Z,1761577518.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266858
2025-10-27T15:05:19.007Z,1761577519.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203433,-0.964035,-0.171029],[0.976142,0.213244,-0.040905],[0.075905,-0.158627,0.984416]]
2025-10-27T15:05:19.042Z,1761577519.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.72 m.
2025-10-27T15:05:19.049Z,1761577519.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.715973 m,
      nav range: 350.298309 m,
      bearing: 73.239144 deg,
      approach rate: -0.824520 m/s,
      LOS rate: -0.015732 deg/s,
      cmd heading: 77.480805 deg,
      new cmd heading: 77.461614 deg.

2025-10-27T15:05:19.049Z,1761577519.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351960 target range: 355.715973 and range: 357.40 m.
2025-10-27T15:05:19.092Z,1761577519.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518980
2025-10-27T15:05:19.344Z,1761577519.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770927
2025-10-27T15:05:19.496Z,1761577519.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202375,-0.964254,-0.171048],[0.976464,0.211987,-0.039738],[0.074577,-0.158981,0.984461]]
2025-10-27T15:05:19.535Z,1761577519.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:19.537Z,1761577519.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.72 m.
2025-10-27T15:05:19.569Z,1761577519.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.715973 m,
      nav range: 349.911194 m,
      bearing: 73.233915 deg,
      approach rate: -0.781270 m/s,
      LOS rate: -0.010564 deg/s,
      cmd heading: 77.461613 deg,
      new cmd heading: 77.445909 deg.

2025-10-27T15:05:19.569Z,1761577519.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351686 target range: 355.715973 and range: 357.40 m.
2025-10-27T15:05:19.596Z,1761577519.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023092
2025-10-27T15:05:19.848Z,1761577519.848 [DAT](INFO): DAT read: Rx Time:15:05:18.5010

2025-10-27T15:05:19.849Z,1761577519.849 [DAT](INFO): Rx dataTimestamp_ set to:1761577519.848218
2025-10-27T15:05:19.849Z,1761577519.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276030
2025-10-27T15:05:19.925Z,1761577519.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201863,-0.964561,-0.169920],[0.976705,0.211145,-0.038267],[0.072789,-0.158237,0.984715]]
2025-10-27T15:05:19.943Z,1761577519.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.72 m.
2025-10-27T15:05:19.946Z,1761577519.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.715973 m,
      nav range: 349.603912 m,
      bearing: 73.229729 deg,
      approach rate: -0.757579 m/s,
      LOS rate: -0.010331 deg/s,
      cmd heading: 77.445910 deg,
      new cmd heading: 77.433339 deg.

2025-10-27T15:05:19.947Z,1761577519.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351467 target range: 355.715973 and range: 357.40 m.
2025-10-27T15:05:20.100Z,1761577520.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527069
2025-10-27T15:05:20.355Z,1761577520.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781275
2025-10-27T15:05:20.448Z,1761577520.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.72 m.
2025-10-27T15:05:20.464Z,1761577520.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.715973 m,
      nav range: 349.238220 m,
      bearing: 73.226031 deg,
      approach rate: -0.730887 m/s,
      LOS rate: -0.007398 deg/s,
      cmd heading: 77.433336 deg,
      new cmd heading: 77.422230 deg.

2025-10-27T15:05:20.466Z,1761577520.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351273 target range: 355.715973 and range: 357.40 m.
2025-10-27T15:05:20.609Z,1761577520.609 [DAT](INFO): DAT read: 15:05:18.5010 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 414, 0.19,-0.915,-2.182,-0.718,-1.167, PHS= 0.355,-0.969, 0.406, RAW= 151.9,   3.1, CAL= 150.8,   2.9, ROT= 359.2,  -2.9

2025-10-27T15:05:20.610Z,1761577520.610 [DAT](INFO): got valid direction response:
 15:05:18.5010 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 414, 0.19,-0.915,-2.182,-0.718,-1.167, PHS= 0.355,-0.969, 0.406, RAW= 151.9,   3.1, CAL= 150.8,   2.9, ROT= 359.2,  -2.9

2025-10-27T15:05:20.612Z,1761577520.612 [DAT](INFO): DAT read: Bearing 221.0,   2.8 (Local)

2025-10-27T15:05:20.612Z,1761577520.612 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.0,   2.8 (Local)

2025-10-27T15:05:20.614Z,1761577520.614 [DAT](INFO): DAT read: Range 11 to 50 : 354.6 m  (Round-trip  472.9 ms) speed  0.1 m/s

2025-10-27T15:05:20.614Z,1761577520.614 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:20.615Z,1761577520.615 [DAT](INFO): direction in FSK: [0.998622,-0.013944,0.050593]
2025-10-27T15:05:20.616Z,1761577520.616 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:20.619Z,1761577520.619 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:20.619Z,1761577520.619 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:20.619Z,1761577520.619 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:20.787Z,1761577520.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202445,-0.964299,-0.170718],[0.976898,0.211044,-0.033631],[0.068459,-0.159965,0.984746]]
2025-10-27T15:05:20.842Z,1761577520.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 354.600006 m,
      deltaT: 4.284170 s,
      deltaX: -2.799988 m,
      approachRate: -0.653566 m/s,
      rangeRepo size: 4

2025-10-27T15:05:20.848Z,1761577520.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 352.930359 m,
      bearing: 77.966005 deg,
      lat: 36.779198 deg,
      lon: -121.859367 deg,
      deltaT: 4.284170 s,
      deltaX: -2.785614 m,
      approachRate: -0.650211 m/s,
      posRepo size: 4

2025-10-27T15:05:20.849Z,1761577520.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:20.859Z,1761577520.859 [DAT](INFO): DAT read: user:910>

2025-10-27T15:05:20.861Z,1761577520.861 [DAT](INFO): DAT read: Tx time:15:05:19.8740

2025-10-27T15:05:20.862Z,1761577520.862 [DAT](INFO): Ping request sent.
2025-10-27T15:05:20.862Z,1761577520.862 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:20.862Z,1761577520.862 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:20.863Z,1761577520.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-27T15:05:20.864Z,1761577520.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 348.957031 m,
      bearing: 73.223208 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007398 deg/s,
      cmd heading: 77.422230 deg,
      new cmd heading: 77.413398 deg.

2025-10-27T15:05:20.865Z,1761577520.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351119 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:21.108Z,1761577521.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246099
2025-10-27T15:05:21.181Z,1761577521.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203334,-0.964001,-0.171343],[0.976889,0.211521,-0.030768],[0.065903,-0.161127,0.984731]]
2025-10-27T15:05:21.219Z,1761577521.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:21.222Z,1761577521.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 348.667542 m,
      bearing: 73.220340 deg,
      approach rate: -0.773861 m/s,
      LOS rate: -0.007674 deg/s,
      cmd heading: 77.413398 deg,
      new cmd heading: 77.404786 deg.

2025-10-27T15:05:21.229Z,1761577521.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350968 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:21.361Z,1761577521.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498896
2025-10-27T15:05:21.588Z,1761577521.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204465,-0.963750,-0.171405],[0.976824,0.212211,-0.027958],[0.063319,-0.161716,0.984804]]
2025-10-27T15:05:21.612Z,1761577521.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750176
2025-10-27T15:05:21.627Z,1761577521.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:21.649Z,1761577521.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:21.664Z,1761577521.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 348.378174 m,
      bearing: 73.218911 deg,
      approach rate: -0.666285 m/s,
      LOS rate: -0.003292 deg/s,
      cmd heading: 77.404785 deg,
      new cmd heading: 77.400496 deg.

2025-10-27T15:05:21.665Z,1761577521.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350893 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:21.864Z,1761577521.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002210
2025-10-27T15:05:21.992Z,1761577521.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205838,-0.963400,-0.171733],[0.976710,0.213117,-0.024883],[0.060572,-0.162611,0.984829]]
2025-10-27T15:05:22.016Z,1761577522.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:22.019Z,1761577522.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 348.111328 m,
      bearing: 73.217652 deg,
      approach rate: -0.727104 m/s,
      LOS rate: -0.003434 deg/s,
      cmd heading: 77.400496 deg,
      new cmd heading: 77.396715 deg.

2025-10-27T15:05:22.020Z,1761577522.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350827 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:22.116Z,1761577522.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254250
2025-10-27T15:05:22.368Z,1761577522.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506080
2025-10-27T15:05:22.395Z,1761577522.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207745,-0.963085,-0.171199],[0.976488,0.214482,-0.021632],[0.057553,-0.162680,0.984999]]
2025-10-27T15:05:22.478Z,1761577522.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:22.485Z,1761577522.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 347.821808 m,
      bearing: 73.217499 deg,
      approach rate: -0.626629 m/s,
      LOS rate: -0.000331 deg/s,
      cmd heading: 77.396712 deg,
      new cmd heading: 77.396253 deg.

2025-10-27T15:05:22.486Z,1761577522.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350819 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:22.620Z,1761577522.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758208
2025-10-27T15:05:22.798Z,1761577522.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210330,-0.962528,-0.171178],[0.976111,0.216516,-0.018095],[0.054479,-0.163283,0.985074]]
2025-10-27T15:05:22.872Z,1761577522.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010251
2025-10-27T15:05:22.873Z,1761577522.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:22.880Z,1761577522.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 347.584991 m,
      bearing: 73.217475 deg,
      approach rate: -0.599970 m/s,
      LOS rate: -0.000061 deg/s,
      cmd heading: 77.396254 deg,
      new cmd heading: 77.396183 deg.

2025-10-27T15:05:22.881Z,1761577522.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350818 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:23.124Z,1761577523.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262141
2025-10-27T15:05:23.204Z,1761577523.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213154,-0.961821,-0.171654],[0.975664,0.218795,-0.014419],[0.051425,-0.164403,0.985052]]
2025-10-27T15:05:23.222Z,1761577523.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:23.225Z,1761577523.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 347.317963 m,
      bearing: 73.217573 deg,
      approach rate: -0.765503 m/s,
      LOS rate: 0.000282 deg/s,
      cmd heading: 77.396179 deg,
      new cmd heading: 77.396474 deg.

2025-10-27T15:05:23.226Z,1761577523.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350823 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:23.377Z,1761577523.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515304
2025-10-27T15:05:23.628Z,1761577523.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766050
2025-10-27T15:05:23.689Z,1761577523.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:23.691Z,1761577523.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:23.694Z,1761577523.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 347.030304 m,
      bearing: 73.219629 deg,
      approach rate: -0.613453 m/s,
      LOS rate: 0.004388 deg/s,
      cmd heading: 77.396473 deg,
      new cmd heading: 77.402646 deg.

2025-10-27T15:05:23.699Z,1761577523.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350931 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:23.880Z,1761577523.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018080
2025-10-27T15:05:24.008Z,1761577524.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218849,-0.960576,-0.171462],[0.974692,0.223422,-0.007604],[0.045613,-0.165458,0.985161]]
2025-10-27T15:05:24.026Z,1761577524.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:24.029Z,1761577524.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 346.806274 m,
      bearing: 73.221445 deg,
      approach rate: -0.668829 m/s,
      LOS rate: 0.005423 deg/s,
      cmd heading: 77.402647 deg,
      new cmd heading: 77.408097 deg.

2025-10-27T15:05:24.030Z,1761577524.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351026 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:24.133Z,1761577524.133 [DAT](INFO): DAT read: Rx Time:15:05:22.7476

2025-10-27T15:05:24.134Z,1761577524.134 [DAT](INFO): Rx dataTimestamp_ set to:1761577524.133268
2025-10-27T15:05:24.135Z,1761577524.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272463
2025-10-27T15:05:24.384Z,1761577524.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522106
2025-10-27T15:05:24.416Z,1761577524.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221751,-0.959898,-0.171530],[0.974165,0.225797,-0.004201],[0.042764,-0.166167,0.985170]]
2025-10-27T15:05:24.506Z,1761577524.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:24.516Z,1761577524.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 346.511475 m,
      bearing: 73.223342 deg,
      approach rate: -0.614470 m/s,
      LOS rate: 0.003959 deg/s,
      cmd heading: 77.408098 deg,
      new cmd heading: 77.413796 deg.

2025-10-27T15:05:24.517Z,1761577524.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351126 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:24.640Z,1761577524.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777744
2025-10-27T15:05:24.815Z,1761577524.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224057,-0.959513,-0.170684],[0.973751,0.227610,-0.001283],[0.040080,-0.165916,0.985325]]
2025-10-27T15:05:24.833Z,1761577524.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.93 m.
2025-10-27T15:05:24.836Z,1761577524.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.930359 m,
      nav range: 346.292877 m,
      bearing: 73.224836 deg,
      approach rate: -0.667133 m/s,
      LOS rate: 0.004562 deg/s,
      cmd heading: 77.413794 deg,
      new cmd heading: 77.418279 deg.

2025-10-27T15:05:24.837Z,1761577524.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351204 target range: 352.930359 and range: 354.60 m.
2025-10-27T15:05:24.896Z,1761577524.896 [DAT](INFO): DAT read: 15:05:22.7476 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 221, 0.12, 1.312,-0.201, 1.680, 1.125, PHS= 0.288,-1.281, 0.511, RAW= 156.5,   5.7, CAL= 155.8,   5.5, ROT= 354.2,  -5.5

2025-10-27T15:05:24.897Z,1761577524.897 [DAT](INFO): got valid direction response:
 15:05:22.7476 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 221, 0.12, 1.312,-0.201, 1.680, 1.125, PHS= 0.288,-1.281, 0.511, RAW= 156.5,   5.7, CAL= 155.8,   5.5, ROT= 354.2,  -5.5

2025-10-27T15:05:24.898Z,1761577524.898 [DAT](INFO): DAT read: Bearing 221.8,  -3.9 (Local)

2025-10-27T15:05:24.899Z,1761577524.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.8,  -3.9 (Local)

2025-10-27T15:05:24.900Z,1761577524.900 [DAT](INFO): DAT read: Range 11 to 50 : 352.1 m  (Round-trip  469.5 ms) speed  0.3 m/s

2025-10-27T15:05:24.901Z,1761577524.901 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:24.902Z,1761577524.902 [DAT](INFO): direction in FSK: [0.990300,-0.100591,0.095846]
2025-10-27T15:05:24.902Z,1761577524.902 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:24.917Z,1761577524.917 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:24.917Z,1761577524.917 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:24.918Z,1761577524.918 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:25.140Z,1761577525.140 [DAT](INFO): DAT read: user:911>

2025-10-27T15:05:25.141Z,1761577525.141 [DAT](INFO): DAT read: Tx time:15:05:24.1740

2025-10-27T15:05:25.141Z,1761577525.141 [DAT](INFO): Ping request sent.
2025-10-27T15:05:25.141Z,1761577525.141 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:25.142Z,1761577525.142 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:25.142Z,1761577525.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-10-27T15:05:25.224Z,1761577525.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226370,-0.959075,-0.170091],[0.973326,0.229418,0.001784],[0.037311,-0.165958,0.985427]]
2025-10-27T15:05:25.300Z,1761577525.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 352.100006 m,
      deltaT: 4.284357 s,
      deltaX: -2.500000 m,
      approachRate: -0.583518 m/s,
      rangeRepo size: 4

2025-10-27T15:05:25.309Z,1761577525.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 350.441101 m,
      bearing: 72.076935 deg,
      lat: 36.779198 deg,
      lon: -121.859367 deg,
      deltaT: 4.284357 s,
      deltaX: -2.489258 m,
      approachRate: -0.581011 m/s,
      posRepo size: 4

2025-10-27T15:05:25.316Z,1761577525.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:25.340Z,1761577525.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 346.018677 m,
      bearing: 73.226818 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004562 deg/s,
      cmd heading: 77.418282 deg,
      new cmd heading: 77.424665 deg.

2025-10-27T15:05:25.348Z,1761577525.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351315 target range: 350.441101 and range: 352.10 m.
2025-10-27T15:05:25.392Z,1761577525.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250971
2025-10-27T15:05:25.644Z,1761577525.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832
2025-10-27T15:05:25.777Z,1761577525.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:25.780Z,1761577525.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:25.782Z,1761577525.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 345.674164 m,
      bearing: 73.229002 deg,
      approach rate: -0.717725 m/s,
      LOS rate: 0.004554 deg/s,
      cmd heading: 77.424668 deg,
      new cmd heading: 77.431226 deg.

2025-10-27T15:05:25.784Z,1761577525.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351430 target range: 350.441101 and range: 352.10 m.
2025-10-27T15:05:25.896Z,1761577525.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754460
2025-10-27T15:05:26.108Z,1761577526.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231419,-0.958555,-0.166183],[0.972406,0.233099,0.009598],[0.029537,-0.163818,0.986048]]
2025-10-27T15:05:26.126Z,1761577526.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:26.141Z,1761577526.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 345.441711 m,
      bearing: 73.230677 deg,
      approach rate: -0.670409 m/s,
      LOS rate: 0.004834 deg/s,
      cmd heading: 77.431225 deg,
      new cmd heading: 77.436254 deg.

2025-10-27T15:05:26.142Z,1761577526.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351518 target range: 350.441101 and range: 352.10 m.
2025-10-27T15:05:26.148Z,1761577526.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006512
2025-10-27T15:05:26.401Z,1761577526.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259768
2025-10-27T15:05:26.511Z,1761577526.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232211,-0.958808,-0.163604],[0.972284,0.233521,0.011448],[0.027228,-0.161728,0.986460]]
2025-10-27T15:05:26.547Z,1761577526.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:26.550Z,1761577526.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 345.160034 m,
      bearing: 73.231769 deg,
      approach rate: -0.669490 m/s,
      LOS rate: 0.002597 deg/s,
      cmd heading: 77.436252 deg,
      new cmd heading: 77.439530 deg.

2025-10-27T15:05:26.551Z,1761577526.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351575 target range: 350.441101 and range: 352.10 m.
2025-10-27T15:05:26.652Z,1761577526.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510584
2025-10-27T15:05:26.904Z,1761577526.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762468
2025-10-27T15:05:26.974Z,1761577526.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:26.977Z,1761577526.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 344.875488 m,
      bearing: 73.232873 deg,
      approach rate: -0.666437 m/s,
      LOS rate: 0.002589 deg/s,
      cmd heading: 77.439531 deg,
      new cmd heading: 77.442847 deg.

2025-10-27T15:05:26.978Z,1761577526.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351633 target range: 350.441101 and range: 352.10 m.
2025-10-27T15:05:27.159Z,1761577527.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017517
2025-10-27T15:05:27.324Z,1761577527.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234247,-0.958885,-0.160213],[0.971922,0.234760,0.015991],[0.022278,-0.159461,0.986953]]
2025-10-27T15:05:27.408Z,1761577527.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266583
2025-10-27T15:05:27.415Z,1761577527.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:27.418Z,1761577527.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 344.622528 m,
      bearing: 73.233947 deg,
      approach rate: -0.579396 m/s,
      LOS rate: 0.002461 deg/s,
      cmd heading: 77.442850 deg,
      new cmd heading: 77.446074 deg.

2025-10-27T15:05:27.419Z,1761577527.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351689 target range: 350.441101 and range: 352.10 m.
2025-10-27T15:05:27.660Z,1761577527.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518879
2025-10-27T15:05:27.753Z,1761577527.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235105,-0.958852,-0.159151],[0.971760,0.235283,0.018000],[0.020187,-0.158889,0.987090]]
2025-10-27T15:05:27.796Z,1761577527.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:27.798Z,1761577527.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:27.801Z,1761577527.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 344.308136 m,
      bearing: 73.233753 deg,
      approach rate: -0.810920 m/s,
      LOS rate: -0.000502 deg/s,
      cmd heading: 77.446074 deg,
      new cmd heading: 77.445490 deg.

2025-10-27T15:05:27.802Z,1761577527.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351679 target range: 350.441101 and range: 352.10 m.
2025-10-27T15:05:27.912Z,1761577527.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770466
2025-10-27T15:05:28.151Z,1761577528.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235403,-0.959156,-0.156859],[0.971727,0.235301,0.019489],[0.018216,-0.157012,0.987429]]
2025-10-27T15:05:28.164Z,1761577528.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022560
2025-10-27T15:05:28.177Z,1761577528.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:28.180Z,1761577528.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 344.041260 m,
      bearing: 73.233604 deg,
      approach rate: -0.704601 m/s,
      LOS rate: -0.000392 deg/s,
      cmd heading: 77.445486 deg,
      new cmd heading: 77.445041 deg.

2025-10-27T15:05:28.181Z,1761577528.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351671 target range: 350.441101 and range: 352.10 m.
2025-10-27T15:05:28.419Z,1761577528.419 [DAT](INFO): DAT read: Rx Time:15:05:27.0438

2025-10-27T15:05:28.421Z,1761577528.421 [DAT](INFO): Rx dataTimestamp_ set to:1761577528.419961
2025-10-27T15:05:28.423Z,1761577528.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280593
2025-10-27T15:05:28.554Z,1761577528.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235440,-0.959207,-0.156491],[0.971750,0.235058,0.021212],[0.016438,-0.157064,0.987452]]
2025-10-27T15:05:28.611Z,1761577528.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:28.614Z,1761577528.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 343.739990 m,
      bearing: 73.232053 deg,
      approach rate: -0.701012 m/s,
      LOS rate: -0.003613 deg/s,
      cmd heading: 77.445042 deg,
      new cmd heading: 77.440384 deg.

2025-10-27T15:05:28.619Z,1761577528.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351590 target range: 350.441101 and range: 352.10 m.
2025-10-27T15:05:28.669Z,1761577528.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527335
2025-10-27T15:05:28.923Z,1761577528.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780758
2025-10-27T15:05:28.978Z,1761577528.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234768,-0.959573,-0.155254],[0.971941,0.234135,0.022616],[0.014649,-0.156207,0.987616]]
2025-10-27T15:05:28.996Z,1761577528.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:28.998Z,1761577528.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 343.445099 m,
      bearing: 73.230499 deg,
      approach rate: -0.758465 m/s,
      LOS rate: -0.004000 deg/s,
      cmd heading: 77.440384 deg,
      new cmd heading: 77.435718 deg.

2025-10-27T15:05:29.012Z,1761577529.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351508 target range: 350.441101 and range: 352.10 m.
2025-10-27T15:05:29.177Z,1761577529.177 [DAT](INFO): DAT read: 15:05:27.0438 LVL= 32752, 32753, 32754,AGC= 60, IDX= 397, 0.43, 2.855, 1.329,-3.117, 2.652, PHS= 0.305,-1.278, 0.470, RAW= 154.9,   6.1, CAL= 154.2,   6.1, ROT= 355.8,  -6.1

2025-10-27T15:05:29.178Z,1761577529.178 [DAT](INFO): unknown deviceResponse_: 15:05:27.0438 LVL= 32752, 32753, 32754,AGC= 60, IDX= 397, 0.43, 2.855, 1.329,-3.117, 2.652, PHS= 0.305,-1.278, 0.470, RAW= 154.9,   6.1, CAL= 154.2,   6.1, ROT= 355.8,  -6.1

2025-10-27T15:05:29.178Z,1761577529.178 [DAT](INFO): DAT read: Bearing 222.4,  -3.7 (Local)

2025-10-27T15:05:29.179Z,1761577529.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.4,  -3.7 (Local)

2025-10-27T15:05:29.181Z,1761577529.181 [DAT](INFO): DAT read: Range 11 to 50 : 349.2 m  (Round-trip  465.7 ms) speed  0.8 m/s

2025-10-27T15:05:29.181Z,1761577529.181 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:05:29.182Z,1761577529.182 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:29.182Z,1761577529.182 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:29.182Z,1761577529.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:29.374Z,1761577529.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233599,-0.960071,-0.153935],[0.972248,0.232731,0.023891],[0.012888,-0.155244,0.987792]]
2025-10-27T15:05:29.426Z,1761577529.426 [DAT](INFO): DAT read: user:912>

2025-10-27T15:05:29.429Z,1761577529.429 [DAT](INFO): DAT read: Tx time:15:05:28.4240

2025-10-27T15:05:29.429Z,1761577529.429 [DAT](INFO): Ping request sent.
2025-10-27T15:05:29.429Z,1761577529.429 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:29.430Z,1761577529.430 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:29.436Z,1761577529.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006010
2025-10-27T15:05:29.487Z,1761577529.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 349.200012 m,
      deltaT: 4.283452 s,
      deltaX: -2.899994 m,
      approachRate: -0.677023 m/s,
      rangeRepo size: 4

2025-10-27T15:05:29.488Z,1761577529.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:29.496Z,1761577529.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 343.100464 m,
      bearing: 73.228612 deg,
      approach rate: -0.708042 m/s,
      LOS rate: -0.003881 deg/s,
      cmd heading: 77.435719 deg,
      new cmd heading: 77.430053 deg.

2025-10-27T15:05:29.497Z,1761577529.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351409 target range: 350.441101 and range: 349.20 m.
2025-10-27T15:05:29.676Z,1761577529.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246398
2025-10-27T15:05:29.812Z,1761577529.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232048,-0.960687,-0.152430],[0.972639,0.230982,0.024913],[0.011275,-0.154041,0.988000]]
2025-10-27T15:05:29.855Z,1761577529.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:29.857Z,1761577529.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:29.860Z,1761577529.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 342.790955 m,
      bearing: 73.225720 deg,
      approach rate: -0.826398 m/s,
      LOS rate: -0.007729 deg/s,
      cmd heading: 77.430050 deg,
      new cmd heading: 77.421366 deg.

2025-10-27T15:05:29.861Z,1761577529.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351258 target range: 350.441101 and range: 349.20 m.
2025-10-27T15:05:29.929Z,1761577529.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499319
2025-10-27T15:05:30.180Z,1761577530.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750407
2025-10-27T15:05:30.214Z,1761577530.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230291,-0.961262,-0.151463],[0.973074,0.229017,0.026048],[0.009648,-0.153383,0.988120]]
2025-10-27T15:05:30.247Z,1761577530.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:30.250Z,1761577530.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 342.478760 m,
      bearing: 73.222703 deg,
      approach rate: -0.799712 m/s,
      LOS rate: -0.007735 deg/s,
      cmd heading: 77.421362 deg,
      new cmd heading: 77.412303 deg.

2025-10-27T15:05:30.251Z,1761577530.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351100 target range: 350.441101 and range: 349.20 m.
2025-10-27T15:05:30.440Z,1761577530.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010205
2025-10-27T15:05:30.621Z,1761577530.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228735,-0.961906,-0.149726],[0.973457,0.227255,0.027154],[0.007906,-0.151963,0.988355]]
2025-10-27T15:05:30.685Z,1761577530.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255494
2025-10-27T15:05:30.709Z,1761577530.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:30.716Z,1761577530.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 342.132812 m,
      bearing: 73.218987 deg,
      approach rate: -0.750026 m/s,
      LOS rate: -0.008064 deg/s,
      cmd heading: 77.412305 deg,
      new cmd heading: 77.401147 deg.

2025-10-27T15:05:30.717Z,1761577530.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350905 target range: 350.441101 and range: 349.20 m.
2025-10-27T15:05:30.937Z,1761577530.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507431
2025-10-27T15:05:31.061Z,1761577531.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227125,-0.962455,-0.148640],[0.973845,0.225458,0.028199],[0.006371,-0.151157,0.988489]]
2025-10-27T15:05:31.085Z,1761577531.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:31.088Z,1761577531.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 341.803009 m,
      bearing: 73.215346 deg,
      approach rate: -0.875567 m/s,
      LOS rate: -0.009675 deg/s,
      cmd heading: 77.401145 deg,
      new cmd heading: 77.390212 deg.

2025-10-27T15:05:31.089Z,1761577531.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350714 target range: 350.441101 and range: 349.20 m.
2025-10-27T15:05:31.188Z,1761577531.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758920
2025-10-27T15:05:31.444Z,1761577531.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014144
2025-10-27T15:05:31.476Z,1761577531.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225614,-0.962898,-0.148070],[0.974204,0.223769,0.029230],[0.004988,-0.150845,0.988545]]
2025-10-27T15:05:31.525Z,1761577531.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:31.528Z,1761577531.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 341.434662 m,
      bearing: 73.210774 deg,
      approach rate: -0.837604 m/s,
      LOS rate: -0.010407 deg/s,
      cmd heading: 77.390210 deg,
      new cmd heading: 77.376479 deg.

2025-10-27T15:05:31.529Z,1761577531.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350474 target range: 350.441101 and range: 349.20 m.
2025-10-27T15:05:31.692Z,1761577531.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262347
2025-10-27T15:05:31.867Z,1761577531.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223976,-0.963188,-0.148675],[0.974588,0.221905,0.030591],[0.003526,-0.151749,0.988413]]
2025-10-27T15:05:31.883Z,1761577531.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:31.885Z,1761577531.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:31.888Z,1761577531.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 341.135773 m,
      bearing: 73.206972 deg,
      approach rate: -0.830298 m/s,
      LOS rate: -0.010571 deg/s,
      cmd heading: 77.376481 deg,
      new cmd heading: 77.365065 deg.

2025-10-27T15:05:31.889Z,1761577531.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350275 target range: 350.441101 and range: 349.20 m.
2025-10-27T15:05:31.945Z,1761577531.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515502
2025-10-27T15:05:32.196Z,1761577532.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766454
2025-10-27T15:05:32.270Z,1761577532.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222503,-0.963721,-0.147424],[0.974929,0.220299,0.031323],[0.002291,-0.150697,0.988577]]
2025-10-27T15:05:32.295Z,1761577532.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:32.298Z,1761577532.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 340.795288 m,
      bearing: 73.202546 deg,
      approach rate: -0.830416 m/s,
      LOS rate: -0.010807 deg/s,
      cmd heading: 77.365068 deg,
      new cmd heading: 77.351775 deg.

2025-10-27T15:05:32.299Z,1761577532.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350043 target range: 350.441101 and range: 349.20 m.
2025-10-27T15:05:32.452Z,1761577532.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021516
2025-10-27T15:05:32.700Z,1761577532.700 [DAT](INFO): DAT read: Rx Time:15:05:31.2887

2025-10-27T15:05:32.700Z,1761577532.700 [DAT](INFO): Rx dataTimestamp_ set to:1761577532.700200
2025-10-27T15:05:32.701Z,1761577532.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271546
2025-10-27T15:05:32.737Z,1761577532.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:32.767Z,1761577532.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 340.445190 m,
      bearing: 73.198454 deg,
      approach rate: -0.792609 m/s,
      LOS rate: -0.009273 deg/s,
      cmd heading: 77.351776 deg,
      new cmd heading: 77.339488 deg.

2025-10-27T15:05:32.768Z,1761577532.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349829 target range: 350.441101 and range: 349.20 m.
2025-10-27T15:05:32.953Z,1761577532.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523525
2025-10-27T15:05:33.080Z,1761577533.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220168,-0.964203,-0.147782],[0.975462,0.217583,0.033638],[-0.000279,-0.151562,0.988448]]
2025-10-27T15:05:33.102Z,1761577533.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.44 m.
2025-10-27T15:05:33.105Z,1761577533.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.441101 m,
      nav range: 340.147491 m,
      bearing: 73.194848 deg,
      approach rate: -0.815408 m/s,
      LOS rate: -0.009885 deg/s,
      cmd heading: 77.339489 deg,
      new cmd heading: 77.328661 deg.

2025-10-27T15:05:33.106Z,1761577533.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349640 target range: 350.441101 and range: 349.20 m.
2025-10-27T15:05:33.209Z,1761577533.209 [DAT](INFO): DAT read: 15:05:31.2887 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 396,-0.28, 2.082, 0.623, 2.238, 2.099, PHS= 0.084,-1.432, 0.095, RAW= 150.3,  16.2, CAL= 150.7,  18.2, ROT= 359.3, -18.2

2025-10-27T15:05:33.211Z,1761577533.211 [DAT](INFO): got valid direction response:
 15:05:31.2887 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 396,-0.28, 2.082, 0.623, 2.238, 2.099, PHS= 0.084,-1.432, 0.095, RAW= 150.3,  16.2, CAL= 150.7,  18.2, ROT= 359.3, -18.2

2025-10-27T15:05:33.212Z,1761577533.212 [DAT](INFO): DAT read: Bearing 235.4,  -3.4 (Local)

2025-10-27T15:05:33.212Z,1761577533.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.4,  -3.4 (Local)

2025-10-27T15:05:33.213Z,1761577533.213 [DAT](INFO): DAT read: Range 11 to 50 : 345.4 m  (Round-trip  460.6 ms) speed  0.4 m/s

2025-10-27T15:05:33.214Z,1761577533.214 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:33.215Z,1761577533.215 [DAT](INFO): direction in FSK: [0.949901,-0.011606,0.312335]
2025-10-27T15:05:33.215Z,1761577533.215 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:33.218Z,1761577533.218 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:33.219Z,1761577533.219 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:33.219Z,1761577533.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:33.460Z,1761577533.460 [DAT](INFO): DAT read: user:913>

2025-10-27T15:05:33.462Z,1761577533.462 [DAT](INFO): DAT read: Tx time:15:05:32.4740

2025-10-27T15:05:33.464Z,1761577533.464 [DAT](INFO): Ping request sent.
2025-10-27T15:05:33.464Z,1761577533.464 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:33.465Z,1761577533.465 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:33.469Z,1761577533.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002472
2025-10-27T15:05:33.513Z,1761577533.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219083,-0.964610,-0.146732],[0.975705,0.216360,0.034468],[-0.001501,-0.150718,0.988576]]
2025-10-27T15:05:33.644Z,1761577533.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 345.399994 m,
      deltaT: 4.032324 s,
      deltaX: -3.800018 m,
      approachRate: -0.942389 m/s,
      rangeRepo size: 4

2025-10-27T15:05:33.646Z,1761577533.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 343.770905 m,
      bearing: 79.490140 deg,
      lat: 36.779198 deg,
      lon: -121.859371 deg,
      deltaT: 8.315776 s,
      deltaX: -6.670197 m,
      approachRate: -0.802114 m/s,
      posRepo size: 4

2025-10-27T15:05:33.651Z,1761577533.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:33.654Z,1761577533.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 339.433685 m,
      bearing: 73.175707 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009885 deg/s,
      cmd heading: 77.328663 deg,
      new cmd heading: 77.312735 deg.

2025-10-27T15:05:33.655Z,1761577533.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349362 target range: 343.770905 and range: 345.40 m.
2025-10-27T15:05:33.709Z,1761577533.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244840
2025-10-27T15:05:33.960Z,1761577533.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495868
2025-10-27T15:05:33.972Z,1761577533.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218165,-0.964609,-0.148102],[0.975909,0.215263,0.035544],[-0.002405,-0.152288,0.988333]]
2025-10-27T15:05:33.989Z,1761577533.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:33.992Z,1761577533.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:33.994Z,1761577533.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 339.143860 m,
      bearing: 73.173031 deg,
      approach rate: -0.824042 m/s,
      LOS rate: -0.007616 deg/s,
      cmd heading: 77.312735 deg,
      new cmd heading: 77.304699 deg.

2025-10-27T15:05:34.011Z,1761577534.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349221 target range: 343.770905 and range: 345.40 m.
2025-10-27T15:05:34.212Z,1761577534.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748133
2025-10-27T15:05:34.373Z,1761577534.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217811,-0.964632,-0.148469],[0.975986,0.214764,0.036451],[-0.003276,-0.152843,0.988245]]
2025-10-27T15:05:34.408Z,1761577534.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:34.411Z,1761577534.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 338.827393 m,
      bearing: 73.170084 deg,
      approach rate: -0.790161 m/s,
      LOS rate: -0.007366 deg/s,
      cmd heading: 77.304696 deg,
      new cmd heading: 77.295846 deg.

2025-10-27T15:05:34.412Z,1761577534.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349067 target range: 343.770905 and range: 345.40 m.
2025-10-27T15:05:34.467Z,1761577534.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002285
2025-10-27T15:05:34.717Z,1761577534.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252182
2025-10-27T15:05:34.802Z,1761577534.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217044,-0.964642,-0.149529],[0.976154,0.213860,0.037247],[-0.003951,-0.154047,0.988056]]
2025-10-27T15:05:34.862Z,1761577534.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:34.867Z,1761577534.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 338.475525 m,
      bearing: 73.168131 deg,
      approach rate: -0.747479 m/s,
      LOS rate: -0.004153 deg/s,
      cmd heading: 77.295844 deg,
      new cmd heading: 77.289979 deg.

2025-10-27T15:05:34.877Z,1761577534.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348965 target range: 343.770905 and range: 345.40 m.
2025-10-27T15:05:34.968Z,1761577534.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503704
2025-10-27T15:05:35.204Z,1761577535.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217052,-0.964542,-0.150158],[0.976148,0.213685,0.038404],[-0.004956,-0.154912,0.987916]]
2025-10-27T15:05:35.220Z,1761577535.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755981
2025-10-27T15:05:35.223Z,1761577535.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:35.226Z,1761577535.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 338.184570 m,
      bearing: 73.166514 deg,
      approach rate: -0.805707 m/s,
      LOS rate: -0.004481 deg/s,
      cmd heading: 77.289977 deg,
      new cmd heading: 77.285122 deg.

2025-10-27T15:05:35.227Z,1761577535.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348880 target range: 343.770905 and range: 345.40 m.
2025-10-27T15:05:35.475Z,1761577535.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010290
2025-10-27T15:05:35.606Z,1761577535.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217106,-0.964783,-0.148524],[0.976129,0.213632,0.039153],[-0.006045,-0.153479,0.988133]]
2025-10-27T15:05:35.654Z,1761577535.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:35.657Z,1761577535.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 337.866760 m,
      bearing: 73.166391 deg,
      approach rate: -0.737218 m/s,
      LOS rate: -0.000286 deg/s,
      cmd heading: 77.285120 deg,
      new cmd heading: 77.284750 deg.

2025-10-27T15:05:35.658Z,1761577535.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348873 target range: 343.770905 and range: 345.40 m.
2025-10-27T15:05:35.725Z,1761577535.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260591
2025-10-27T15:05:35.976Z,1761577535.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511876
2025-10-27T15:05:36.049Z,1761577536.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:36.051Z,1761577536.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:36.054Z,1761577536.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 337.571381 m,
      bearing: 73.166276 deg,
      approach rate: -0.744829 m/s,
      LOS rate: -0.000290 deg/s,
      cmd heading: 77.284752 deg,
      new cmd heading: 77.284407 deg.

2025-10-27T15:05:36.054Z,1761577536.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348867 target range: 343.770905 and range: 345.40 m.
2025-10-27T15:05:36.229Z,1761577536.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764977
2025-10-27T15:05:36.414Z,1761577536.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217739,-0.964621,-0.148650],[0.975971,0.213889,0.041615],[-0.008348,-0.154139,0.988014]]
2025-10-27T15:05:36.457Z,1761577536.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:36.460Z,1761577536.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 337.271912 m,
      bearing: 73.166193 deg,
      approach rate: -0.737115 m/s,
      LOS rate: -0.000204 deg/s,
      cmd heading: 77.284410 deg,
      new cmd heading: 77.284161 deg.

2025-10-27T15:05:36.461Z,1761577536.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348863 target range: 343.770905 and range: 345.40 m.
2025-10-27T15:05:36.480Z,1761577536.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015912
2025-10-27T15:05:36.733Z,1761577536.733 [DAT](INFO): DAT read: Rx Time:15:05:35.3361

2025-10-27T15:05:36.733Z,1761577536.733 [DAT](INFO): Rx dataTimestamp_ set to:1761577536.732941
2025-10-27T15:05:36.734Z,1761577536.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270077
2025-10-27T15:05:36.820Z,1761577536.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218335,-0.964565,-0.148138],[0.975826,0.214294,0.042916],[-0.009650,-0.153927,0.988035]]
2025-10-27T15:05:36.856Z,1761577536.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:36.859Z,1761577536.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 336.989685 m,
      bearing: 73.166859 deg,
      approach rate: -0.706782 m/s,
      LOS rate: 0.001668 deg/s,
      cmd heading: 77.284164 deg,
      new cmd heading: 77.286162 deg.

2025-10-27T15:05:36.860Z,1761577536.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348898 target range: 343.770905 and range: 345.40 m.
2025-10-27T15:05:36.984Z,1761577536.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519882
2025-10-27T15:05:37.248Z,1761577537.248 [DAT](INFO): DAT read: 15:05:35.3361 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 226,-0.35, 0.337,-1.120, 0.477, 0.408, PHS= 0.031,-1.483, 0.025, RAW= 149.8,  18.5, CAL= 150.7,  21.5, ROT= 359.3, -21.5

2025-10-27T15:05:37.249Z,1761577537.249 [DAT](INFO): got valid direction response:
 15:05:35.3361 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 226,-0.35, 0.337,-1.120, 0.477, 0.408, PHS= 0.031,-1.483, 0.025, RAW= 149.8,  18.5, CAL= 150.7,  21.5, ROT= 359.3, -21.5

2025-10-27T15:05:37.250Z,1761577537.250 [DAT](INFO): DAT read: Bearing 239.1,  -4.5 (Local)

2025-10-27T15:05:37.250Z,1761577537.250 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.1,  -4.5 (Local)

2025-10-27T15:05:37.252Z,1761577537.252 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T15:05:37.253Z,1761577537.253 [DAT](INFO): direction in FSK: [0.930348,-0.011367,0.366501]
2025-10-27T15:05:37.256Z,1761577537.256 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:37.256Z,1761577537.256 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:37.256Z,1761577537.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:05:37.336Z,1761577537.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220119,-0.964444,-0.146274],[0.975394,0.215699,0.045623],[-0.012450,-0.152717,0.988192]]
2025-10-27T15:05:37.376Z,1761577537.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:37.378Z,1761577537.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 336.633148 m,
      bearing: 73.167812 deg,
      approach rate: -0.686228 m/s,
      LOS rate: 0.001838 deg/s,
      cmd heading: 77.286165 deg,
      new cmd heading: 77.289030 deg.

2025-10-27T15:05:37.384Z,1761577537.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348948 target range: 343.770905 and range: 345.40 m.
2025-10-27T15:05:37.496Z,1761577537.496 [DAT](INFO): DAT read: Range 11 to 50 : 343.5 m  (Round-trip  458.1 ms) speed  0.7 m/s

2025-10-27T15:05:37.500Z,1761577537.500 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-10-27T15:05:37.502Z,1761577537.502 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:37.502Z,1761577537.502 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:37.503Z,1761577537.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:37.742Z,1761577537.742 [DAT](INFO): DAT read: user:914>

2025-10-27T15:05:37.743Z,1761577537.743 [DAT](INFO): DAT read: Tx time:15:05:36.7739

2025-10-27T15:05:37.744Z,1761577537.744 [DAT](INFO): Ping request sent.
2025-10-27T15:05:37.744Z,1761577537.744 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:37.744Z,1761577537.744 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:37.745Z,1761577537.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001208
2025-10-27T15:05:37.843Z,1761577537.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221589,-0.964314,-0.144903],[0.975044,0.217017,0.046833],[-0.013716,-0.151664,0.988337]]
2025-10-27T15:05:37.881Z,1761577537.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 343.500000 m,
      deltaT: 4.285776 s,
      deltaX: -1.899994 m,
      approachRate: -0.443326 m/s,
      rangeRepo size: 4

2025-10-27T15:05:37.882Z,1761577537.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:37.900Z,1761577537.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 336.267212 m,
      bearing: 73.169744 deg,
      approach rate: -0.725445 m/s,
      LOS rate: 0.003832 deg/s,
      cmd heading: 77.289027 deg,
      new cmd heading: 77.294827 deg.

2025-10-27T15:05:37.901Z,1761577537.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349049 target range: 343.770905 and range: 343.50 m.
2025-10-27T15:05:37.992Z,1761577537.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248246
2025-10-27T15:05:38.244Z,1761577538.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500193
2025-10-27T15:05:38.351Z,1761577538.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222790,-0.964184,-0.143923],[0.974758,0.218121,0.047646],[-0.014547,-0.150905,0.988441]]
2025-10-27T15:05:38.368Z,1761577538.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:38.370Z,1761577538.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:38.389Z,1761577538.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 335.920654 m,
      bearing: 73.171650 deg,
      approach rate: -0.708120 m/s,
      LOS rate: 0.003899 deg/s,
      cmd heading: 77.294826 deg,
      new cmd heading: 77.300551 deg.

2025-10-27T15:05:38.389Z,1761577538.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349149 target range: 343.770905 and range: 343.50 m.
2025-10-27T15:05:38.497Z,1761577538.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752903
2025-10-27T15:05:38.749Z,1761577538.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004780
2025-10-27T15:05:38.766Z,1761577538.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224270,-0.963627,-0.145350],[0.974407,0.219398,0.048938],[-0.015268,-0.152605,0.988169]]
2025-10-27T15:05:38.816Z,1761577538.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:38.819Z,1761577538.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 335.625916 m,
      bearing: 73.173701 deg,
      approach rate: -0.660173 m/s,
      LOS rate: 0.004598 deg/s,
      cmd heading: 77.300550 deg,
      new cmd heading: 77.306709 deg.

2025-10-27T15:05:38.820Z,1761577538.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349257 target range: 343.770905 and range: 343.50 m.
2025-10-27T15:05:39.003Z,1761577539.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258946
2025-10-27T15:05:39.157Z,1761577539.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226232,-0.963131,-0.145596],[0.973956,0.221347,0.049138],[-0.015099,-0.152921,0.988123]]
2025-10-27T15:05:39.190Z,1761577539.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:39.193Z,1761577539.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 335.378571 m,
      bearing: 73.175510 deg,
      approach rate: -0.661571 m/s,
      LOS rate: 0.004842 deg/s,
      cmd heading: 77.306711 deg,
      new cmd heading: 77.312142 deg.

2025-10-27T15:05:39.194Z,1761577539.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349351 target range: 343.770905 and range: 343.50 m.
2025-10-27T15:05:39.253Z,1761577539.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509023
2025-10-27T15:05:39.504Z,1761577539.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760228
2025-10-27T15:05:39.642Z,1761577539.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:39.646Z,1761577539.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 335.068542 m,
      bearing: 73.177349 deg,
      approach rate: -0.685810 m/s,
      LOS rate: 0.004071 deg/s,
      cmd heading: 77.312141 deg,
      new cmd heading: 77.317662 deg.

2025-10-27T15:05:39.647Z,1761577539.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349448 target range: 343.770905 and range: 343.50 m.
2025-10-27T15:05:39.757Z,1761577539.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012638
2025-10-27T15:05:39.000Z,1761577540.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230518,-0.961928,-0.146821],[0.972939,0.225391,0.050875],[-0.015846,-0.154575,0.987854]]
2025-10-27T15:05:40.008Z,1761577540.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264221
2025-10-27T15:05:40.020Z,1761577540.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:40.022Z,1761577540.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 334.810394 m,
      bearing: 73.179075 deg,
      approach rate: -0.683974 m/s,
      LOS rate: 0.004577 deg/s,
      cmd heading: 77.317659 deg,
      new cmd heading: 77.322842 deg.

2025-10-27T15:05:40.023Z,1761577540.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349538 target range: 343.770905 and range: 343.50 m.
2025-10-27T15:05:40.261Z,1761577540.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517225
2025-10-27T15:05:40.402Z,1761577540.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232313,-0.961359,-0.147717],[0.972506,0.227056,0.051742],[-0.016203,-0.155676,0.987675]]
2025-10-27T15:05:40.452Z,1761577540.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:40.454Z,1761577540.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:40.461Z,1761577540.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 334.530548 m,
      bearing: 73.181036 deg,
      approach rate: -0.644126 m/s,
      LOS rate: 0.004518 deg/s,
      cmd heading: 77.322844 deg,
      new cmd heading: 77.328732 deg.

2025-10-27T15:05:40.462Z,1761577540.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349641 target range: 343.770905 and range: 343.50 m.
2025-10-27T15:05:40.512Z,1761577540.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768260
2025-10-27T15:05:40.768Z,1761577540.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023816
2025-10-27T15:05:40.821Z,1761577540.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233994,-0.961105,-0.146711],[0.972099,0.228728,0.052028],[-0.016447,-0.154792,0.987810]]
2025-10-27T15:05:40.875Z,1761577540.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:40.882Z,1761577540.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 334.227570 m,
      bearing: 73.181002 deg,
      approach rate: -0.720186 m/s,
      LOS rate: -0.000082 deg/s,
      cmd heading: 77.328731 deg,
      new cmd heading: 77.328628 deg.

2025-10-27T15:05:40.884Z,1761577540.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349639 target range: 343.770905 and range: 343.50 m.
2025-10-27T15:05:41.016Z,1761577541.016 [DAT](INFO): DAT read: Rx Time:15:05:39.6314

2025-10-27T15:05:41.016Z,1761577541.016 [DAT](INFO): Rx dataTimestamp_ set to:1761577541.016063
2025-10-27T15:05:41.017Z,1761577541.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273146
2025-10-27T15:05:41.222Z,1761577541.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235762,-0.960624,-0.147032],[0.971668,0.230416,0.052635],[-0.016684,-0.155276,0.987730]]
2025-10-27T15:05:41.253Z,1761577541.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.77 m.
2025-10-27T15:05:41.256Z,1761577541.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.770905 m,
      nav range: 333.971008 m,
      bearing: 73.181052 deg,
      approach rate: -0.677540 m/s,
      LOS rate: 0.000133 deg/s,
      cmd heading: 77.328629 deg,
      new cmd heading: 77.328780 deg.

2025-10-27T15:05:41.257Z,1761577541.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349642 target range: 343.770905 and range: 343.50 m.
2025-10-27T15:05:41.268Z,1761577541.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524317
2025-10-27T15:05:41.538Z,1761577541.538 [DAT](INFO): DAT read: 15:05:39.6314 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 402,-0.14, 2.742, 1.297, 2.911, 2.765, PHS= 0.079,-1.422, 0.102, RAW= 150.7,  16.2, CAL= 151.2,  18.2, ROT= 358.8, -18.2

2025-10-27T15:05:41.540Z,1761577541.540 [DAT](INFO): got valid direction response:
 15:05:39.6314 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 402,-0.14, 2.742, 1.297, 2.911, 2.765, PHS= 0.079,-1.422, 0.102, RAW= 150.7,  16.2, CAL= 151.2,  18.2, ROT= 358.8, -18.2

2025-10-27T15:05:41.540Z,1761577541.540 [DAT](INFO): DAT read: Bearing 235.5,  -4.4 (Local)

2025-10-27T15:05:41.541Z,1761577541.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.5,  -4.4 (Local)

2025-10-27T15:05:41.545Z,1761577541.545 [DAT](INFO): DAT read: Range 11 to 50 : 340.0 m  (Round-trip  453.4 ms) speed  1.0 m/s

2025-10-27T15:05:41.584Z,1761577541.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:41.595Z,1761577541.595 [DAT](INFO): direction in FSK: [0.949764,-0.019895,0.312335]
2025-10-27T15:05:41.600Z,1761577541.600 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:41.631Z,1761577541.631 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:41.631Z,1761577541.631 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:41.631Z,1761577541.631 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:41.642Z,1761577541.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236733,-0.960122,-0.148736],[0.971434,0.231302,0.053062],[-0.016543,-0.157049,0.987452]]
2025-10-27T15:05:41.772Z,1761577541.772 [DAT](INFO): DAT read: user:915>

2025-10-27T15:05:41.773Z,1761577541.773 [DAT](INFO): DAT read: Tx time:15:05:40.9239

2025-10-27T15:05:41.773Z,1761577541.773 [DAT](INFO): Ping request sent.
2025-10-27T15:05:41.773Z,1761577541.773 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:41.773Z,1761577541.773 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:41.774Z,1761577541.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-27T15:05:41.779Z,1761577541.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 340.000000 m,
      deltaT: 4.031827 s,
      deltaX: -3.500000 m,
      approachRate: -0.868093 m/s,
      rangeRepo size: 4

2025-10-27T15:05:41.785Z,1761577541.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 338.401276 m,
      bearing: 78.068622 deg,
      lat: 36.778949 deg,
      lon: -121.859384 deg,
      deltaT: 8.317603 s,
      deltaX: -5.369629 m,
      approachRate: -0.645574 m/s,
      posRepo size: 4

2025-10-27T15:05:41.786Z,1761577541.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.40 m.
2025-10-27T15:05:41.792Z,1761577541.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.401276 m,
      nav range: 325.478363 m,
      bearing: 77.782967 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000133 deg/s,
      cmd heading: 77.328779 deg,
      new cmd heading: 77.328989 deg.

2025-10-27T15:05:41.793Z,1761577541.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349645 target range: 338.401276 and range: 340.00 m.
2025-10-27T15:05:42.025Z,1761577542.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251405
2025-10-27T15:05:42.105Z,1761577542.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238510,-0.959820,-0.147844],[0.970995,0.233066,0.053377],[-0.016775,-0.156287,0.987569]]
2025-10-27T15:05:42.143Z,1761577542.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.40 m.
2025-10-27T15:05:42.146Z,1761577542.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.401276 m,
      nav range: 325.213928 m,
      bearing: 77.784488 deg,
      approach rate: -0.732257 m/s,
      LOS rate: 0.004216 deg/s,
      cmd heading: 77.328991 deg,
      new cmd heading: 77.333558 deg.

2025-10-27T15:05:42.151Z,1761577542.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349725 target range: 338.401276 and range: 340.00 m.
2025-10-27T15:05:42.276Z,1761577542.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502656
2025-10-27T15:05:42.506Z,1761577542.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238409,-0.959714,-0.148695],[0.971021,0.232930,0.053491],[-0.016700,-0.157138,0.987435]]
2025-10-27T15:05:42.523Z,1761577542.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:42.525Z,1761577542.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.40 m.
2025-10-27T15:05:42.528Z,1761577542.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754837
2025-10-27T15:05:42.529Z,1761577542.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.401276 m,
      nav range: 324.924622 m,
      bearing: 77.786149 deg,
      approach rate: -0.749864 m/s,
      LOS rate: 0.004309 deg/s,
      cmd heading: 77.333560 deg,
      new cmd heading: 77.338547 deg.

2025-10-27T15:05:42.530Z,1761577542.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349812 target range: 338.401276 and range: 340.00 m.
2025-10-27T15:05:42.780Z,1761577542.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006849
2025-10-27T15:05:42.921Z,1761577542.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238256,-0.959547,-0.150015],[0.971058,0.232697,0.053840],[-0.016754,-0.158501,0.987217]]
2025-10-27T15:05:42.965Z,1761577542.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.40 m.
2025-10-27T15:05:42.988Z,1761577542.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.401276 m,
      nav range: 324.592621 m,
      bearing: 77.787101 deg,
      approach rate: -0.754636 m/s,
      LOS rate: 0.002167 deg/s,
      cmd heading: 77.338546 deg,
      new cmd heading: 77.341406 deg.

2025-10-27T15:05:42.989Z,1761577542.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349862 target range: 338.401276 and range: 340.00 m.
2025-10-27T15:05:43.032Z,1761577543.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258933
2025-10-27T15:05:43.286Z,1761577543.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512728
2025-10-27T15:05:43.321Z,1761577543.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238237,-0.959505,-0.150313],[0.971062,0.232659,0.053923],[-0.016768,-0.158810,0.987167]]
2025-10-27T15:05:43.340Z,1761577543.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.40 m.
2025-10-27T15:05:43.342Z,1761577543.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.401276 m,
      nav range: 324.309845 m,
      bearing: 77.787913 deg,
      approach rate: -0.754286 m/s,
      LOS rate: 0.002167 deg/s,
      cmd heading: 77.341408 deg,
      new cmd heading: 77.343845 deg.

2025-10-27T15:05:43.343Z,1761577543.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349905 target range: 338.401276 and range: 340.00 m.
2025-10-27T15:05:43.536Z,1761577543.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762748
2025-10-27T15:05:43.728Z,1761577543.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237604,-0.959597,-0.150727],[0.971219,0.232025,0.053836],[-0.016689,-0.159180,0.987109]]
2025-10-27T15:05:43.784Z,1761577543.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.40 m.
2025-10-27T15:05:43.788Z,1761577543.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014830
2025-10-27T15:05:43.789Z,1761577543.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.401276 m,
      nav range: 323.962463 m,
      bearing: 77.788028 deg,
      approach rate: -0.781224 m/s,
      LOS rate: 0.000260 deg/s,
      cmd heading: 77.343846 deg,
      new cmd heading: 77.344194 deg.

2025-10-27T15:05:43.790Z,1761577543.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349911 target range: 338.401276 and range: 340.00 m.
2025-10-27T15:05:44.040Z,1761577544.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266698
2025-10-27T15:05:44.126Z,1761577544.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236118,-0.960113,-0.149771],[0.971585,0.230654,0.053113],[-0.016449,-0.158056,0.987293]]
2025-10-27T15:05:44.159Z,1761577544.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.40 m.
2025-10-27T15:05:44.162Z,1761577544.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.401276 m,
      nav range: 323.669922 m,
      bearing: 77.788048 deg,
      approach rate: -0.781135 m/s,
      LOS rate: 0.000052 deg/s,
      cmd heading: 77.344195 deg,
      new cmd heading: 77.344253 deg.

2025-10-27T15:05:44.163Z,1761577544.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349912 target range: 338.401276 and range: 340.00 m.
2025-10-27T15:05:44.292Z,1761577544.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518787
2025-10-27T15:05:44.530Z,1761577544.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234238,-0.960891,-0.147716],[0.972038,0.228898,0.052413],[-0.016552,-0.155863,0.987640]]
2025-10-27T15:05:44.544Z,1761577544.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770814
2025-10-27T15:05:44.549Z,1761577544.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:44.551Z,1761577544.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.40 m.
2025-10-27T15:05:44.554Z,1761577544.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.401276 m,
      nav range: 323.364655 m,
      bearing: 77.787966 deg,
      approach rate: -0.778108 m/s,
      LOS rate: -0.000210 deg/s,
      cmd heading: 77.344256 deg,
      new cmd heading: 77.344010 deg.

2025-10-27T15:05:44.580Z,1761577544.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349908 target range: 338.401276 and range: 340.00 m.
2025-10-27T15:05:44.796Z,1761577544.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022693
2025-10-27T15:05:44.956Z,1761577544.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231939,-0.961325,-0.148521],[0.972595,0.226640,0.051899],[-0.016231,-0.156488,0.987546]]
2025-10-27T15:05:45.013Z,1761577545.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.40 m.
2025-10-27T15:05:45.020Z,1761577545.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.401276 m,
      nav range: 322.999847 m,
      bearing: 77.786893 deg,
      approach rate: -0.790636 m/s,
      LOS rate: -0.002327 deg/s,
      cmd heading: 77.344010 deg,
      new cmd heading: 77.340789 deg.

2025-10-27T15:05:45.020Z,1761577545.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349851 target range: 338.401276 and range: 340.00 m.
2025-10-27T15:05:45.048Z,1761577545.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274846
2025-10-27T15:05:45.300Z,1761577545.300 [DAT](INFO): DAT read: Rx Time:15:05:43.7595

2025-10-27T15:05:45.301Z,1761577545.301 [DAT](INFO): Rx dataTimestamp_ set to:1761577545.300445
2025-10-27T15:05:45.302Z,1761577545.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528393
2025-10-27T15:05:45.358Z,1761577545.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229541,-0.961876,-0.148680],[0.973169,0.224318,0.051227],[-0.015922,-0.156449,0.987558]]
2025-10-27T15:05:45.377Z,1761577545.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.40 m.
2025-10-27T15:05:45.396Z,1761577545.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.401276 m,
      nav range: 322.683380 m,
      bearing: 77.785822 deg,
      approach rate: -0.868783 m/s,
      LOS rate: -0.002943 deg/s,
      cmd heading: 77.340786 deg,
      new cmd heading: 77.337570 deg.

2025-10-27T15:05:45.397Z,1761577545.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349795 target range: 338.401276 and range: 340.00 m.
2025-10-27T15:05:45.524Z,1761577545.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:05:45.552Z,1761577545.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778835
2025-10-27T15:05:45.809Z,1761577545.809 [DAT](INFO): DAT read: 15:05:43.7595 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 226,-0.33, 2.507, 1.044, 2.678, 2.541, PHS= 0.068,-1.452, 0.093, RAW= 150.8,  16.6, CAL= 151.3,  18.6, ROT= 358.7, -18.6

2025-10-27T15:05:45.810Z,1761577545.810 [DAT](INFO): got valid direction response:
 15:05:43.7595 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 226,-0.33, 2.507, 1.044, 2.678, 2.541, PHS= 0.068,-1.452, 0.093, RAW= 150.8,  16.6, CAL= 151.3,  18.6, ROT= 358.7, -18.6

2025-10-27T15:05:45.812Z,1761577545.812 [DAT](INFO): DAT read: Bearing 236.1,  -4.7 (Local)

2025-10-27T15:05:45.812Z,1761577545.812 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.1,  -4.7 (Local)

2025-10-27T15:05:45.813Z,1761577545.813 [DAT](INFO): DAT read: Range 11 to 50 : 323.6 m  (Round-trip  431.5 ms) speed  0.5 m/s

2025-10-27T15:05:45.814Z,1761577545.814 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:45.815Z,1761577545.815 [DAT](INFO): direction in FSK: [0.947524,-0.021502,0.318959]
2025-10-27T15:05:45.815Z,1761577545.815 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:45.818Z,1761577545.818 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:45.819Z,1761577545.819 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:45.823Z,1761577545.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:45.846Z,1761577545.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 323.600006 m,
      deltaT: 4.282260 s,
      deltaX: -16.399994 m,
      approachRate: -3.829752 m/s,
      rangeRepo size: 4

2025-10-27T15:05:45.897Z,1761577545.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 322.080475 m,
      bearing: 78.452321 deg,
      lat: 36.778931 deg,
      lon: -121.859405 deg,
      deltaT: 4.282260 s,
      deltaX: -16.320801 m,
      approachRate: -3.811259 m/s,
      posRepo size: 4

2025-10-27T15:05:45.897Z,1761577545.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:45.912Z,1761577545.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 320.081543 m,
      bearing: 78.071773 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002943 deg/s,
      cmd heading: 77.337569 deg,
      new cmd heading: 77.333430 deg.

2025-10-27T15:05:45.913Z,1761577545.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349723 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:46.056Z,1761577546.056 [DAT](INFO): DAT read: user:916>

2025-10-27T15:05:46.057Z,1761577546.057 [DAT](INFO): DAT read: Tx time:15:05:45.0739

2025-10-27T15:05:46.057Z,1761577546.057 [DAT](INFO): Ping request sent.
2025-10-27T15:05:46.057Z,1761577546.057 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:46.057Z,1761577546.057 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:46.058Z,1761577546.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-27T15:05:46.212Z,1761577546.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:46.215Z,1761577546.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 319.780365 m,
      bearing: 78.070896 deg,
      approach rate: -0.822646 m/s,
      LOS rate: -0.002399 deg/s,
      cmd heading: 77.333430 deg,
      new cmd heading: 77.330796 deg.

2025-10-27T15:05:46.216Z,1761577546.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349677 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:46.308Z,1761577546.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811
2025-10-27T15:05:46.527Z,1761577546.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:05:46.560Z,1761577546.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502702
2025-10-27T15:05:46.601Z,1761577546.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:46.604Z,1761577546.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:46.606Z,1761577546.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 319.462646 m,
      bearing: 78.069969 deg,
      approach rate: -0.810899 m/s,
      LOS rate: -0.002369 deg/s,
      cmd heading: 77.330794 deg,
      new cmd heading: 77.328009 deg.

2025-10-27T15:05:46.607Z,1761577546.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349628 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:46.812Z,1761577546.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754716
2025-10-27T15:05:46.973Z,1761577546.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218563,-0.964774,-0.146426],[0.975709,0.213776,0.047865],[-0.014877,-0.153331,0.988063]]
2025-10-27T15:05:47.021Z,1761577547.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:47.024Z,1761577547.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 319.121246 m,
      bearing: 78.069657 deg,
      approach rate: -0.818786 m/s,
      LOS rate: -0.000749 deg/s,
      cmd heading: 77.328007 deg,
      new cmd heading: 77.327071 deg.

2025-10-27T15:05:47.025Z,1761577547.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349612 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:47.064Z,1761577547.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006925
2025-10-27T15:05:47.316Z,1761577547.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258750
2025-10-27T15:05:47.384Z,1761577547.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216103,-0.965802,-0.143272],[0.976255,0.211474,0.046965],[-0.015061,-0.150019,0.988568]]
2025-10-27T15:05:47.410Z,1761577547.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:47.431Z,1761577547.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 318.809113 m,
      bearing: 78.069227 deg,
      approach rate: -0.802200 m/s,
      LOS rate: -0.001106 deg/s,
      cmd heading: 77.327071 deg,
      new cmd heading: 77.325780 deg.

2025-10-27T15:05:47.436Z,1761577547.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349589 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:47.568Z,1761577547.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510707
2025-10-27T15:05:47.782Z,1761577547.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213690,-0.966486,-0.142271],[0.976783,0.209121,0.046509],[-0.015198,-0.148907,0.988734]]
2025-10-27T15:05:47.820Z,1761577547.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762781
2025-10-27T15:05:47.832Z,1761577547.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:47.834Z,1761577547.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 318.464294 m,
      bearing: 78.070051 deg,
      approach rate: -0.817283 m/s,
      LOS rate: 0.001955 deg/s,
      cmd heading: 77.325781 deg,
      new cmd heading: 77.328255 deg.

2025-10-27T15:05:47.835Z,1761577547.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349633 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:48.073Z,1761577548.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015954
2025-10-27T15:05:48.186Z,1761577548.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212287,-0.966898,-0.141569],[0.977084,0.207723,0.046447],[-0.015502,-0.148185,0.988838]]
2025-10-27T15:05:48.221Z,1761577548.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:48.228Z,1761577548.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 318.164215 m,
      bearing: 78.070691 deg,
      approach rate: -0.771275 m/s,
      LOS rate: 0.001647 deg/s,
      cmd heading: 77.328253 deg,
      new cmd heading: 77.330176 deg.

2025-10-27T15:05:48.229Z,1761577548.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349666 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:48.325Z,1761577548.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267680
2025-10-27T15:05:48.580Z,1761577548.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522615
2025-10-27T15:05:48.600Z,1761577548.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211099,-0.967371,-0.140113],[0.977341,0.206609,0.046018],[-0.015568,-0.146652,0.989066]]
2025-10-27T15:05:48.616Z,1761577548.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:48.618Z,1761577548.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:48.621Z,1761577548.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 317.832184 m,
      bearing: 78.071327 deg,
      approach rate: -0.835080 m/s,
      LOS rate: 0.001601 deg/s,
      cmd heading: 77.330179 deg,
      new cmd heading: 77.332088 deg.

2025-10-27T15:05:48.622Z,1761577548.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349700 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:48.832Z,1761577548.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774712
2025-10-27T15:05:48.996Z,1761577548.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210748,-0.967363,-0.140693],[0.977418,0.206249,0.045995],[-0.015476,-0.147209,0.988984]]
2025-10-27T15:05:49.038Z,1761577549.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:49.041Z,1761577549.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 317.506012 m,
      bearing: 78.073383 deg,
      approach rate: -0.777220 m/s,
      LOS rate: 0.004905 deg/s,
      cmd heading: 77.332092 deg,
      new cmd heading: 77.338267 deg.

2025-10-27T15:05:49.042Z,1761577549.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349807 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:49.084Z,1761577549.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026782
2025-10-27T15:05:49.336Z,1761577549.336 [DAT](INFO): DAT read: Rx Time:15:05:47.9416

2025-10-27T15:05:49.336Z,1761577549.336 [DAT](INFO): Rx dataTimestamp_ set to:1761577549.336082
2025-10-27T15:05:49.337Z,1761577549.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279696
2025-10-27T15:05:49.410Z,1761577549.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210944,-0.967134,-0.141965],[0.977372,0.206347,0.046532],[-0.015709,-0.148568,0.988777]]
2025-10-27T15:05:49.437Z,1761577549.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:49.440Z,1761577549.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 317.196198 m,
      bearing: 78.075354 deg,
      approach rate: -0.776777 m/s,
      LOS rate: 0.004945 deg/s,
      cmd heading: 77.338266 deg,
      new cmd heading: 77.344183 deg.

2025-10-27T15:05:49.441Z,1761577549.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349911 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:49.588Z,1761577549.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530730
2025-10-27T15:05:49.820Z,1761577549.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210993,-0.967108,-0.142068],[0.977360,0.206378,0.046643],[-0.015789,-0.148693,0.988757]]
2025-10-27T15:05:49.855Z,1761577549.855 [DAT](INFO): DAT read: 15:05:47.9416 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 262, 0.41, 1.331,-0.089, 1.545, 0.926, PHS= 0.507,-0.971, 0.574, RAW= 152.2,  -1.5, CAL= 151.3,  -2.4, ROT= 358.7,   2.4

2025-10-27T15:05:49.856Z,1761577549.856 [DAT](INFO): got valid direction response:
 15:05:47.9416 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 262, 0.41, 1.331,-0.089, 1.545, 0.926, PHS= 0.507,-0.971, 0.574, RAW= 152.2,  -1.5, CAL= 151.3,  -2.4, ROT= 358.7,   2.4

2025-10-27T15:05:49.857Z,1761577549.857 [DAT](INFO): DAT read: Bearing 216.4,  -2.0 (Local)

2025-10-27T15:05:49.858Z,1761577549.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.4,  -2.0 (Local)

2025-10-27T15:05:49.858Z,1761577549.858 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T15:05:49.867Z,1761577549.867 [DAT](INFO): direction in FSK: [0.998866,-0.022667,-0.041876]
2025-10-27T15:05:49.870Z,1761577549.870 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:49.870Z,1761577549.870 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:49.870Z,1761577549.870 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:05:49.976Z,1761577549.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:49.978Z,1761577549.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 316.820892 m,
      bearing: 78.079259 deg,
      approach rate: -0.696291 m/s,
      LOS rate: 0.007254 deg/s,
      cmd heading: 77.344181 deg,
      new cmd heading: 77.355912 deg.

2025-10-27T15:05:49.984Z,1761577549.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350115 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:50.094Z,1761577550.094 [DAT](INFO): DAT read: Range 11 to 50 : 347.6 m  (Round-trip  463.5 ms) speed  0.4 m/s

2025-10-27T15:05:50.095Z,1761577550.095 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-10-27T15:05:50.096Z,1761577550.096 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:50.097Z,1761577550.097 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:50.097Z,1761577550.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:50.206Z,1761577550.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211563,-0.966840,-0.143043],[0.977234,0.206866,0.047115],[-0.015962,-0.149754,0.988594]]
2025-10-27T15:05:50.249Z,1761577550.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 347.600006 m,
 deltaT: 4.289115 s,
 deltaX: 24.000000 m,
 approachRate: 5.595560 m/s,
 rangeRepo size: 4
2025-10-27T15:05:50.249Z,1761577550.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:50.280Z,1761577550.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 316.622864 m,
      bearing: 78.081345 deg,
      approach rate: -0.727856 m/s,
      LOS rate: 0.007672 deg/s,
      cmd heading: 77.355909 deg,
      new cmd heading: 77.362171 deg.

2025-10-27T15:05:50.281Z,1761577550.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350225 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:50.345Z,1761577550.345 [DAT](INFO): DAT read: user:917>

2025-10-27T15:05:50.346Z,1761577550.346 [DAT](INFO): DAT read: Tx time:15:05:49.3739

2025-10-27T15:05:50.346Z,1761577550.346 [DAT](INFO): Ping request sent.
2025-10-27T15:05:50.346Z,1761577550.346 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:50.346Z,1761577550.346 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:50.347Z,1761577550.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-10-27T15:05:50.596Z,1761577550.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249767
2025-10-27T15:05:50.645Z,1761577550.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:50.648Z,1761577550.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:50.650Z,1761577550.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 316.332611 m,
      bearing: 78.084407 deg,
      approach rate: -0.726026 m/s,
      LOS rate: 0.007667 deg/s,
      cmd heading: 77.362172 deg,
      new cmd heading: 77.371367 deg.

2025-10-27T15:05:50.651Z,1761577550.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350385 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:50.848Z,1761577550.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501865
2025-10-27T15:05:51.033Z,1761577551.033 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050318540, +11.1,   0.0,14
2025-10-27T15:05:51.052Z,1761577551.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:51.055Z,1761577551.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 316.043488 m,
      bearing: 78.087463 deg,
      approach rate: -0.714545 m/s,
      LOS rate: 0.007559 deg/s,
      cmd heading: 77.371365 deg,
      new cmd heading: 77.380541 deg.

2025-10-27T15:05:51.056Z,1761577551.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350545 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:51.100Z,1761577551.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754054
2025-10-27T15:05:51.352Z,1761577551.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005765
2025-10-27T15:05:51.427Z,1761577551.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215183,-0.965213,-0.148525],[0.976434,0.210073,0.049462],[-0.016540,-0.155668,0.987671]]
2025-10-27T15:05:51.446Z,1761577551.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:51.448Z,1761577551.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 315.762970 m,
      bearing: 78.090627 deg,
      approach rate: -0.713244 m/s,
      LOS rate: 0.008052 deg/s,
      cmd heading: 77.380538 deg,
      new cmd heading: 77.390038 deg.

2025-10-27T15:05:51.449Z,1761577551.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350711 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:51.604Z,1761577551.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257790
2025-10-27T15:05:51.823Z,1761577551.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216620,-0.964630,-0.150216],[0.976113,0.211379,0.050213],[-0.016684,-0.157505,0.987377]]
2025-10-27T15:05:51.856Z,1761577551.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510001
2025-10-27T15:05:51.869Z,1761577551.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:51.872Z,1761577551.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 315.489746 m,
      bearing: 78.096163 deg,
      approach rate: -0.645074 m/s,
      LOS rate: 0.013080 deg/s,
      cmd heading: 77.390039 deg,
      new cmd heading: 77.406660 deg.

2025-10-27T15:05:51.873Z,1761577551.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351001 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:52.108Z,1761577552.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762168
2025-10-27T15:05:52.228Z,1761577552.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218179,-0.964164,-0.150950],[0.975759,0.212805,0.051080],[-0.017126,-0.158435,0.987221]]
2025-10-27T15:05:52.246Z,1761577552.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:52.249Z,1761577552.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 315.246307 m,
      bearing: 78.101174 deg,
      approach rate: -0.645519 m/s,
      LOS rate: 0.013298 deg/s,
      cmd heading: 77.406657 deg,
      new cmd heading: 77.421702 deg.

2025-10-27T15:05:52.250Z,1761577552.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351264 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:52.360Z,1761577552.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014198
2025-10-27T15:05:52.612Z,1761577552.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265888
2025-10-27T15:05:52.630Z,1761577552.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219635,-0.963704,-0.151772],[0.975428,0.214162,0.051720],[-0.017339,-0.159402,0.987061]]
2025-10-27T15:05:52.647Z,1761577552.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:52.649Z,1761577552.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:52.652Z,1761577552.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 314.987122 m,
      bearing: 78.106588 deg,
      approach rate: -0.643436 m/s,
      LOS rate: 0.013452 deg/s,
      cmd heading: 77.421704 deg,
      new cmd heading: 77.437959 deg.

2025-10-27T15:05:52.653Z,1761577552.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351547 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:52.864Z,1761577552.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517937
2025-10-27T15:05:53.090Z,1761577553.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:53.093Z,1761577553.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 314.710846 m,
      bearing: 78.112058 deg,
      approach rate: -0.626969 m/s,
      LOS rate: 0.012425 deg/s,
      cmd heading: 77.437960 deg,
      new cmd heading: 77.454384 deg.

2025-10-27T15:05:53.094Z,1761577553.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351834 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:53.116Z,1761577553.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769728
2025-10-27T15:05:53.369Z,1761577553.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022582
2025-10-27T15:05:53.438Z,1761577553.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224164,-0.962030,-0.155723],[0.974386,0.218302,0.054003],[-0.017958,-0.163840,0.986324]]
2025-10-27T15:05:53.468Z,1761577553.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:53.470Z,1761577553.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 314.474548 m,
      bearing: 78.116940 deg,
      approach rate: -0.625190 m/s,
      LOS rate: 0.012926 deg/s,
      cmd heading: 77.454386 deg,
      new cmd heading: 77.469043 deg.

2025-10-27T15:05:53.472Z,1761577553.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352090 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:53.620Z,1761577553.620 [DAT](INFO): DAT read: Rx Time:15:05:52.2192

2025-10-27T15:05:53.620Z,1761577553.620 [DAT](INFO): Rx dataTimestamp_ set to:1761577553.620115
2025-10-27T15:05:53.621Z,1761577553.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274913
2025-10-27T15:05:53.842Z,1761577553.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226536,-0.961697,-0.154342],[0.973834,0.220679,0.054304],[-0.018164,-0.162605,0.986524]]
2025-10-27T15:05:53.872Z,1761577553.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525951
2025-10-27T15:05:53.891Z,1761577553.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.08 m.
2025-10-27T15:05:53.897Z,1761577553.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.080475 m,
      nav range: 314.207642 m,
      bearing: 78.121311 deg,
      approach rate: -0.632082 m/s,
      LOS rate: 0.010360 deg/s,
      cmd heading: 77.469044 deg,
      new cmd heading: 77.482167 deg.

2025-10-27T15:05:53.899Z,1761577553.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352319 target range: 322.080475 and range: 323.60 m.
2025-10-27T15:05:54.135Z,1761577554.135 [DAT](INFO): DAT read: 15:05:52.2192 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 210,-0.02,-0.163,-1.737, 0.265,-0.243, PHS= 0.183,-1.448, 0.464, RAW= 157.8,   9.0, CAL= 157.6,   9.5, ROT= 352.4,  -9.5

2025-10-27T15:05:54.136Z,1761577554.136 [DAT](INFO): got valid direction response:
 15:05:52.2192 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 210,-0.02,-0.163,-1.737, 0.265,-0.243, PHS= 0.183,-1.448, 0.464, RAW= 157.8,   9.0, CAL= 157.6,   9.5, ROT= 352.4,  -9.5

2025-10-27T15:05:54.137Z,1761577554.137 [DAT](INFO): DAT read: Bearing 227.1,  -9.9 (Local)

2025-10-27T15:05:54.137Z,1761577554.137 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.1,  -9.9 (Local)

2025-10-27T15:05:54.156Z,1761577554.156 [DAT](INFO): DAT read: Range 11 to 50 : 330.9 m  (Round-trip  441.2 ms) speed  0.8 m/s

2025-10-27T15:05:54.156Z,1761577554.156 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:54.157Z,1761577554.157 [DAT](INFO): direction in FSK: [0.977622,-0.130443,0.165048]
2025-10-27T15:05:54.158Z,1761577554.158 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:54.181Z,1761577554.181 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:54.182Z,1761577554.181 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:54.182Z,1761577554.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:54.246Z,1761577554.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228723,-0.961315,-0.153490],[0.973316,0.222827,0.054812],[-0.018490,-0.161931,0.986629]]
2025-10-27T15:05:54.280Z,1761577554.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 330.899994 m,
      deltaT: 8.321806 s,
      deltaX: 7.299988 m,
      approachRate: 0.877212 m/s,
      rangeRepo size: 4

2025-10-27T15:05:54.282Z,1761577554.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 329.345337 m,
      bearing: 70.839501 deg,
      lat: 36.778931 deg,
      lon: -121.859409 deg,
      deltaT: 8.321806 s,
      deltaX: 7.264862 m,
      approachRate: 0.872991 m/s,
      posRepo size: 4

2025-10-27T15:05:54.283Z,1761577554.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:54.285Z,1761577554.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 313.579742 m,
      bearing: 78.110767 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010360 deg/s,
      cmd heading: 77.482165 deg,
      new cmd heading: 77.494253 deg.

2025-10-27T15:05:54.286Z,1761577554.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352530 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:54.376Z,1761577554.376 [DAT](INFO): DAT read: user:918>

2025-10-27T15:05:54.377Z,1761577554.377 [DAT](INFO): DAT read: Tx time:15:05:53.4739

2025-10-27T15:05:54.377Z,1761577554.377 [DAT](INFO): Ping request sent.
2025-10-27T15:05:54.377Z,1761577554.377 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:54.377Z,1761577554.377 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:54.378Z,1761577554.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-10-27T15:05:54.628Z,1761577554.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250579
2025-10-27T15:05:54.654Z,1761577554.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230598,-0.960947,-0.152991],[0.972868,0.224657,0.055288],[-0.018758,-0.161590,0.986680]]
2025-10-27T15:05:54.671Z,1761577554.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:54.673Z,1761577554.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:54.676Z,1761577554.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 313.323334 m,
      bearing: 78.115172 deg,
      approach rate: -0.650438 m/s,
      LOS rate: 0.011183 deg/s,
      cmd heading: 77.494254 deg,
      new cmd heading: 77.507479 deg.

2025-10-27T15:05:54.677Z,1761577554.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352761 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:54.880Z,1761577554.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502616
2025-10-27T15:05:55.113Z,1761577555.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:55.116Z,1761577555.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 313.028961 m,
      bearing: 78.118466 deg,
      approach rate: -0.669112 m/s,
      LOS rate: 0.007494 deg/s,
      cmd heading: 77.507477 deg,
      new cmd heading: 77.517367 deg.

2025-10-27T15:05:55.117Z,1761577555.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352933 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:55.132Z,1761577555.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754688
2025-10-27T15:05:55.386Z,1761577555.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008774
2025-10-27T15:05:55.489Z,1761577555.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:55.492Z,1761577555.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 312.777740 m,
      bearing: 78.121281 deg,
      approach rate: -0.668811 m/s,
      LOS rate: 0.007502 deg/s,
      cmd heading: 77.517367 deg,
      new cmd heading: 77.525821 deg.

2025-10-27T15:05:55.493Z,1761577555.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353081 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:55.636Z,1761577555.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258613
2025-10-27T15:05:55.868Z,1761577555.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233961,-0.959196,-0.158759],[0.972062,0.227603,0.057373],[-0.018898,-0.167747,0.985649]]
2025-10-27T15:05:55.889Z,1761577555.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511864
2025-10-27T15:05:55.942Z,1761577555.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:55.945Z,1761577555.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 312.453705 m,
      bearing: 78.122787 deg,
      approach rate: -0.714082 m/s,
      LOS rate: 0.003321 deg/s,
      cmd heading: 77.525823 deg,
      new cmd heading: 77.530344 deg.

2025-10-27T15:05:55.946Z,1761577555.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353160 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:56.140Z,1761577556.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762526
2025-10-27T15:05:56.265Z,1761577556.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234335,-0.959018,-0.159284],[0.971974,0.227954,0.057475],[-0.018810,-0.168288,0.985558]]
2025-10-27T15:05:56.304Z,1761577556.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:56.306Z,1761577556.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 312.209503 m,
      bearing: 78.123940 deg,
      approach rate: -0.682520 m/s,
      LOS rate: 0.003224 deg/s,
      cmd heading: 77.530345 deg,
      new cmd heading: 77.533806 deg.

2025-10-27T15:05:56.307Z,1761577556.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353220 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:56.394Z,1761577556.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016513
2025-10-27T15:05:56.648Z,1761577556.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270563
2025-10-27T15:05:56.670Z,1761577556.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233982,-0.959266,-0.158308],[0.972060,0.227679,0.057103],[-0.018734,-0.167246,0.985737]]
2025-10-27T15:05:56.686Z,1761577556.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:56.689Z,1761577556.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:56.720Z,1761577556.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 311.920135 m,
      bearing: 78.125291 deg,
      approach rate: -0.745176 m/s,
      LOS rate: 0.003483 deg/s,
      cmd heading: 77.533808 deg,
      new cmd heading: 77.537865 deg.

2025-10-27T15:05:56.721Z,1761577556.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353291 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:56.902Z,1761577556.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524178
2025-10-27T15:05:57.085Z,1761577557.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232117,-0.959910,-0.157146],[0.972522,0.226047,0.055707],[-0.017952,-0.165759,0.986003]]
2025-10-27T15:05:57.122Z,1761577557.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:57.125Z,1761577557.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 311.577454 m,
      bearing: 78.125764 deg,
      approach rate: -0.791009 m/s,
      LOS rate: 0.001093 deg/s,
      cmd heading: 77.537865 deg,
      new cmd heading: 77.539285 deg.

2025-10-27T15:05:57.126Z,1761577557.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353316 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:57.152Z,1761577557.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774689
2025-10-27T15:05:57.405Z,1761577557.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027431
2025-10-27T15:05:57.488Z,1761577557.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230728,-0.960628,-0.154786],[0.972860,0.224888,0.054478],[-0.017523,-0.163154,0.986445]]
2025-10-27T15:05:57.506Z,1761577557.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:57.509Z,1761577557.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 311.273651 m,
      bearing: 78.126105 deg,
      approach rate: -0.790446 m/s,
      LOS rate: 0.000889 deg/s,
      cmd heading: 77.539285 deg,
      new cmd heading: 77.540311 deg.

2025-10-27T15:05:57.510Z,1761577557.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353334 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:57.656Z,1761577557.656 [DAT](INFO): DAT read: Rx Time:15:05:56.2972

2025-10-27T15:05:57.656Z,1761577557.656 [DAT](INFO): Rx dataTimestamp_ set to:1761577557.656155
2025-10-27T15:05:57.657Z,1761577557.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279683
2025-10-27T15:05:57.910Z,1761577557.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532435
2025-10-27T15:05:57.958Z,1761577557.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:57.961Z,1761577557.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 310.907806 m,
      bearing: 78.125581 deg,
      approach rate: -0.809972 m/s,
      LOS rate: -0.001161 deg/s,
      cmd heading: 77.540310 deg,
      new cmd heading: 77.538737 deg.

2025-10-27T15:05:57.962Z,1761577557.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353306 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:58.163Z,1761577558.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785709
2025-10-27T15:05:58.295Z,1761577558.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226243,-0.961896,-0.153525],[0.973937,0.220771,0.052031],[-0.016154,-0.161295,0.986774]]
2025-10-27T15:05:58.313Z,1761577558.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.35 m.
2025-10-27T15:05:58.316Z,1761577558.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.345337 m,
      nav range: 310.618683 m,
      bearing: 78.124921 deg,
      approach rate: -0.813150 m/s,
      LOS rate: -0.001859 deg/s,
      cmd heading: 77.538739 deg,
      new cmd heading: 77.536756 deg.

2025-10-27T15:05:58.317Z,1761577558.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353272 target range: 329.345337 and range: 330.90 m.
2025-10-27T15:05:58.418Z,1761577558.418 [DAT](INFO): DAT read: 15:05:56.2972 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 209,-0.03, 1.539,-0.011, 1.850, 1.442, PHS= 0.200,-1.408, 0.364, RAW= 154.8,  10.0, CAL= 154.6,  10.8, ROT= 355.4, -10.8

2025-10-27T15:05:58.419Z,1761577558.419 [DAT](INFO): got valid direction response:
 15:05:56.2972 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 209,-0.03, 1.539,-0.011, 1.850, 1.442, PHS= 0.200,-1.408, 0.364, RAW= 154.8,  10.0, CAL= 154.6,  10.8, ROT= 355.4, -10.8

2025-10-27T15:05:58.420Z,1761577558.420 [DAT](INFO): DAT read: Bearing 228.3,  -7.2 (Local)

2025-10-27T15:05:58.420Z,1761577558.420 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.3,  -7.2 (Local)

2025-10-27T15:05:58.422Z,1761577558.422 [DAT](INFO): DAT read: Range 11 to 50 : 314.4 m  (Round-trip  419.2 ms) speed  0.7 m/s

2025-10-27T15:05:58.422Z,1761577558.422 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:05:58.423Z,1761577558.423 [DAT](INFO): direction in FSK: [0.979123,-0.078779,0.187381]
2025-10-27T15:05:58.424Z,1761577558.424 [DAT](INFO): publishing direction and range info
2025-10-27T15:05:58.427Z,1761577558.427 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:05:58.428Z,1761577558.428 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:05:58.428Z,1761577558.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:05:58.664Z,1761577558.664 [DAT](INFO): DAT read: user:919>

2025-10-27T15:05:58.665Z,1761577558.665 [DAT](INFO): DAT read: Tx time:15:05:57.6739

2025-10-27T15:05:58.665Z,1761577558.665 [DAT](INFO): Ping request sent.
2025-10-27T15:05:58.665Z,1761577558.665 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:05:58.665Z,1761577558.665 [DAT](INFO): publishing transmit ping time
2025-10-27T15:05:58.666Z,1761577558.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-27T15:05:58.702Z,1761577558.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223424,-0.963004,-0.150680],[0.974600,0.218269,0.050139],[-0.015396,-0.158055,0.987310]]
2025-10-27T15:05:58.772Z,1761577558.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 314.399994 m,
      deltaT: 4.286542 s,
      deltaX: -16.500000 m,
      approachRate: -3.849257 m/s,
      rangeRepo size: 4

2025-10-27T15:05:58.774Z,1761577558.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 312.926605 m,
      bearing: 74.280195 deg,
      lat: 36.778931 deg,
      lon: -121.859410 deg,
      deltaT: 4.286542 s,
      deltaX: -16.418732 m,
      approachRate: -3.830298 m/s,
      posRepo size: 4

2025-10-27T15:05:58.774Z,1761577558.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.93 m.
2025-10-27T15:05:58.781Z,1761577558.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.926605 m,
      nav range: 310.210052 m,
      bearing: 78.121482 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001859 deg/s,
      cmd heading: 77.536758 deg,
      new cmd heading: 77.534231 deg.

2025-10-27T15:05:58.782Z,1761577558.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353228 target range: 312.926605 and range: 314.40 m.
2025-10-27T15:05:58.917Z,1761577558.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251779
2025-10-27T15:05:59.102Z,1761577559.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220292,-0.964042,-0.148640],[0.975322,0.215388,0.048519],[-0.014759,-0.155661,0.987700]]
2025-10-27T15:05:59.157Z,1761577559.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:05:59.163Z,1761577559.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.93 m.
2025-10-27T15:05:59.166Z,1761577559.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.926605 m,
      nav range: 309.875916 m,
      bearing: 78.121034 deg,
      approach rate: -0.852158 m/s,
      LOS rate: -0.001146 deg/s,
      cmd heading: 77.534231 deg,
      new cmd heading: 77.532883 deg.

2025-10-27T15:05:59.167Z,1761577559.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353204 target range: 312.926605 and range: 314.40 m.
2025-10-27T15:05:59.168Z,1761577559.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503000
2025-10-27T15:05:59.421Z,1761577559.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755924
2025-10-27T15:05:59.503Z,1761577559.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216934,-0.965095,-0.146733],[0.976085,0.212283,0.046841],[-0.014057,-0.153385,0.988066]]
2025-10-27T15:05:59.522Z,1761577559.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.93 m.
2025-10-27T15:05:59.525Z,1761577559.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.926605 m,
      nav range: 309.555145 m,
      bearing: 78.120396 deg,
      approach rate: -0.882964 m/s,
      LOS rate: -0.001758 deg/s,
      cmd heading: 77.532886 deg,
      new cmd heading: 77.530970 deg.

2025-10-27T15:05:59.526Z,1761577559.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353171 target range: 312.926605 and range: 314.40 m.
2025-10-27T15:05:59.672Z,1761577559.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006765
2025-10-27T15:05:59.915Z,1761577559.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213683,-0.966137,-0.144636],[0.976809,0.209255,0.045345],[-0.013544,-0.150972,0.988445]]
2025-10-27T15:05:59.924Z,1761577559.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258939
2025-10-27T15:05:59.953Z,1761577559.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.93 m.
2025-10-27T15:05:59.956Z,1761577559.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.926605 m,
      nav range: 309.197205 m,
      bearing: 78.121300 deg,
      approach rate: -0.829625 m/s,
      LOS rate: 0.002100 deg/s,
      cmd heading: 77.530966 deg,
      new cmd heading: 77.533684 deg.

2025-10-27T15:05:59.957Z,1761577559.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353218 target range: 312.926605 and range: 314.40 m.
2025-10-27T15:06:00.176Z,1761577560.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510964
2025-10-27T15:06:00.311Z,1761577560.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210364,-0.967110,-0.142985],[0.977538,0.206152,0.043826],[-0.012908,-0.148993,0.988754]]
2025-10-27T15:06:00.330Z,1761577560.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.93 m.
2025-10-27T15:06:00.333Z,1761577560.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.926605 m,
      nav range: 308.885071 m,
      bearing: 78.121893 deg,
      approach rate: -0.829063 m/s,
      LOS rate: 0.001576 deg/s,
      cmd heading: 77.533685 deg,
      new cmd heading: 77.535464 deg.

2025-10-27T15:06:00.334Z,1761577560.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353249 target range: 312.926605 and range: 314.40 m.
2025-10-27T15:06:00.428Z,1761577560.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762847
2025-10-27T15:06:00.680Z,1761577560.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863
2025-10-27T15:06:00.743Z,1761577560.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207825,-0.967747,-0.142392],[0.978085,0.203714,0.043023],[-0.012628,-0.148212,0.988875]]
2025-10-27T15:06:00.783Z,1761577560.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.93 m.
2025-10-27T15:06:00.786Z,1761577560.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.926605 m,
      nav range: 308.524048 m,
      bearing: 78.122405 deg,
      approach rate: -0.796920 m/s,
      LOS rate: 0.001132 deg/s,
      cmd heading: 77.535467 deg,
      new cmd heading: 77.537005 deg.

2025-10-27T15:06:00.787Z,1761577560.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353276 target range: 312.926605 and range: 314.40 m.
2025-10-27T15:06:00.932Z,1761577560.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266931
2025-10-27T15:06:01.182Z,1761577561.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:01.184Z,1761577561.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518957
2025-10-27T15:06:01.186Z,1761577561.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.93 m.
2025-10-27T15:06:01.189Z,1761577561.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.926605 m,
      nav range: 308.195374 m,
      bearing: 78.123017 deg,
      approach rate: -0.815342 m/s,
      LOS rate: 0.001520 deg/s,
      cmd heading: 77.537004 deg,
      new cmd heading: 77.538842 deg.

2025-10-27T15:06:01.190Z,1761577561.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353308 target range: 312.926605 and range: 314.40 m.
2025-10-27T15:06:01.436Z,1761577561.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770887
2025-10-27T15:06:01.522Z,1761577561.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204409,-0.968544,-0.141915],[0.978815,0.200496,0.041500],[-0.011742,-0.147391,0.989009]]
2025-10-27T15:06:01.540Z,1761577561.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.93 m.
2025-10-27T15:06:01.563Z,1761577561.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.926605 m,
      nav range: 307.914673 m,
      bearing: 78.123357 deg,
      approach rate: -0.792794 m/s,
      LOS rate: 0.000961 deg/s,
      cmd heading: 77.538841 deg,
      new cmd heading: 77.539863 deg.

2025-10-27T15:06:01.564Z,1761577561.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353326 target range: 312.926605 and range: 314.40 m.
2025-10-27T15:06:01.688Z,1761577561.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023011
2025-10-27T15:06:01.926Z,1761577561.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204280,-0.968493,-0.142448],[0.978842,0.200350,0.041563],[-0.011714,-0.147924,0.988929]]
2025-10-27T15:06:01.940Z,1761577561.940 [DAT](INFO): DAT read: Rx Time:15:06:00.4925

2025-10-27T15:06:01.940Z,1761577561.940 [DAT](INFO): Rx dataTimestamp_ set to:1761577561.940222
2025-10-27T15:06:01.941Z,1761577561.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276031
2025-10-27T15:06:01.971Z,1761577561.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.93 m.
2025-10-27T15:06:01.974Z,1761577561.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.926605 m,
      nav range: 307.591522 m,
      bearing: 78.126263 deg,
      approach rate: -0.749625 m/s,
      LOS rate: 0.006748 deg/s,
      cmd heading: 77.539866 deg,
      new cmd heading: 77.548592 deg.

2025-10-27T15:06:01.975Z,1761577561.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353478 target range: 312.926605 and range: 314.40 m.
2025-10-27T15:06:02.192Z,1761577562.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527255
2025-10-27T15:06:02.330Z,1761577562.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204366,-0.968443,-0.142662],[0.978823,0.200410,0.041723],[-0.011815,-0.148167,0.988892]]
2025-10-27T15:06:02.406Z,1761577562.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.93 m.
2025-10-27T15:06:02.413Z,1761577562.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.926605 m,
      nav range: 307.308105 m,
      bearing: 78.128821 deg,
      approach rate: -0.651459 m/s,
      LOS rate: 0.005886 deg/s,
      cmd heading: 77.548595 deg,
      new cmd heading: 77.556277 deg.

2025-10-27T15:06:02.414Z,1761577562.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353612 target range: 312.926605 and range: 314.40 m.
2025-10-27T15:06:02.449Z,1761577562.449 [DAT](INFO): DAT read: 15:06:00.4925 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 401, 0.16, 1.157,-0.386, 1.530, 1.052, PHS= 0.207,-1.393, 0.434, RAW= 156.5,   8.8, CAL= 156.2,   9.3, ROT= 353.8,  -9.3

2025-10-27T15:06:02.450Z,1761577562.450 [DAT](INFO): got valid direction response:
 15:06:00.4925 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 401, 0.16, 1.157,-0.386, 1.530, 1.052, PHS= 0.207,-1.393, 0.434, RAW= 156.5,   8.8, CAL= 156.2,   9.3, ROT= 353.8,  -9.3

2025-10-27T15:06:02.452Z,1761577562.452 [DAT](INFO): DAT read: Bearing 227.1,  -8.7 (Local)

2025-10-27T15:06:02.452Z,1761577562.452 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.1,  -8.7 (Local)

2025-10-27T15:06:02.453Z,1761577562.453 [DAT](INFO): DAT read: Range 11 to 50 : 310.8 m  (Round-trip  414.5 ms) speed  0.6 m/s

2025-10-27T15:06:02.454Z,1761577562.454 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:02.455Z,1761577562.455 [DAT](INFO): direction in FSK: [0.981084,-0.106580,0.161604]
2025-10-27T15:06:02.456Z,1761577562.456 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:02.459Z,1761577562.459 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:02.459Z,1761577562.459 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:02.459Z,1761577562.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:02.696Z,1761577562.696 [DAT](INFO): DAT read: user:920>

2025-10-27T15:06:02.697Z,1761577562.697 [DAT](INFO): DAT read: Tx time:15:06:01.7239

2025-10-27T15:06:02.697Z,1761577562.697 [DAT](INFO): Ping request sent.
2025-10-27T15:06:02.697Z,1761577562.697 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:02.697Z,1761577562.697 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:02.698Z,1761577562.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-27T15:06:02.786Z,1761577562.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205071,-0.968012,-0.144563],[0.978671,0.200957,0.042666],[-0.012250,-0.150229,0.988575]]
2025-10-27T15:06:02.825Z,1761577562.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 310.799988 m,
      deltaT: 4.031683 s,
      deltaX: -3.600006 m,
      approachRate: -0.892929 m/s,
      rangeRepo size: 4

2025-10-27T15:06:02.831Z,1761577562.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 309.342102 m,
      bearing: 73.450422 deg,
      lat: 36.779106 deg,
      lon: -121.859493 deg,
      deltaT: 4.031683 s,
      deltaX: -3.584503 m,
      approachRate: -0.889084 m/s,
      posRepo size: 4

2025-10-27T15:06:02.832Z,1761577562.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:02.846Z,1761577562.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 304.434113 m,
      bearing: 74.248752 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005886 deg/s,
      cmd heading: 77.556279 deg,
      new cmd heading: 77.563665 deg.

2025-10-27T15:06:02.847Z,1761577562.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353741 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:02.948Z,1761577562.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250928
2025-10-27T15:06:03.200Z,1761577563.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503312
2025-10-27T15:06:03.235Z,1761577563.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205853,-0.967526,-0.146687],[0.978505,0.201622,0.043313],[-0.012331,-0.152450,0.988234]]
2025-10-27T15:06:03.329Z,1761577563.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:03.331Z,1761577563.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:03.334Z,1761577563.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 304.056030 m,
      bearing: 74.249417 deg,
      approach rate: -0.746359 m/s,
      LOS rate: 0.001314 deg/s,
      cmd heading: 77.563662 deg,
      new cmd heading: 77.565659 deg.

2025-10-27T15:06:03.335Z,1761577563.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353776 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:03.452Z,1761577563.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754957
2025-10-27T15:06:03.673Z,1761577563.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206826,-0.967147,-0.147818],[0.978296,0.202482,0.044020],[-0.012643,-0.153714,0.988034]]
2025-10-27T15:06:03.693Z,1761577563.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:03.696Z,1761577563.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 303.794922 m,
      bearing: 74.249927 deg,
      approach rate: -0.722278 m/s,
      LOS rate: 0.001412 deg/s,
      cmd heading: 77.565657 deg,
      new cmd heading: 77.567188 deg.

2025-10-27T15:06:03.696Z,1761577563.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353803 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:03.707Z,1761577563.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010087
2025-10-27T15:06:03.956Z,1761577563.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258886
2025-10-27T15:06:04.060Z,1761577564.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208491,-0.966691,-0.148458],[0.977935,0.204007,0.044992],[-0.013207,-0.154563,0.987895]]
2025-10-27T15:06:04.117Z,1761577564.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:04.124Z,1761577564.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 303.519745 m,
      bearing: 74.252403 deg,
      approach rate: -0.648560 m/s,
      LOS rate: 0.005841 deg/s,
      cmd heading: 77.567187 deg,
      new cmd heading: 77.574622 deg.

2025-10-27T15:06:04.125Z,1761577564.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353933 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:04.208Z,1761577564.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511163
2025-10-27T15:06:04.460Z,1761577564.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762979
2025-10-27T15:06:04.464Z,1761577564.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210508,-0.966141,-0.149192],[0.977492,0.205837,0.046261],[-0.013985,-0.155573,0.987725]]
2025-10-27T15:06:04.498Z,1761577564.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:04.501Z,1761577564.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 303.258179 m,
      bearing: 74.254862 deg,
      approach rate: -0.685532 m/s,
      LOS rate: 0.006452 deg/s,
      cmd heading: 77.574625 deg,
      new cmd heading: 77.582010 deg.

2025-10-27T15:06:04.509Z,1761577564.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354061 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:04.712Z,1761577564.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014892
2025-10-27T15:06:04.880Z,1761577564.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212465,-0.965550,-0.150237],[0.977060,0.207620,0.047417],[-0.014592,-0.156865,0.987512]]
2025-10-27T15:06:04.967Z,1761577564.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269329
2025-10-27T15:06:04.972Z,1761577564.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:04.979Z,1761577564.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 302.969147 m,
      bearing: 74.257694 deg,
      approach rate: -0.610255 m/s,
      LOS rate: 0.005984 deg/s,
      cmd heading: 77.582008 deg,
      new cmd heading: 77.590511 deg.

2025-10-27T15:06:04.980Z,1761577564.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354210 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:05.216Z,1761577565.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518927
2025-10-27T15:06:05.278Z,1761577565.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214946,-0.964955,-0.150530],[0.976509,0.209969,0.048399],[-0.015096,-0.157397,0.987420]]
2025-10-27T15:06:05.327Z,1761577565.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:05.329Z,1761577565.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 302.697693 m,
      bearing: 74.261332 deg,
      approach rate: -0.765707 m/s,
      LOS rate: 0.010271 deg/s,
      cmd heading: 77.590512 deg,
      new cmd heading: 77.601436 deg.

2025-10-27T15:06:05.330Z,1761577565.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354401 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:05.468Z,1761577565.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770896
2025-10-27T15:06:05.676Z,1761577565.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217275,-0.964387,-0.150829],[0.975982,0.212126,0.049622],[-0.015861,-0.157988,0.987314]]
2025-10-27T15:06:05.721Z,1761577565.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023614
2025-10-27T15:06:05.734Z,1761577565.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:05.738Z,1761577565.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:05.755Z,1761577565.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 302.458130 m,
      bearing: 74.264656 deg,
      approach rate: -0.582104 m/s,
      LOS rate: 0.008084 deg/s,
      cmd heading: 77.601433 deg,
      new cmd heading: 77.611414 deg.

2025-10-27T15:06:05.760Z,1761577565.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354575 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:05.972Z,1761577565.972 [DAT](INFO): DAT read: Rx Time:15:06:04.5769

2025-10-27T15:06:05.972Z,1761577565.972 [DAT](INFO): Rx dataTimestamp_ set to:1761577565.972082
2025-10-27T15:06:05.973Z,1761577565.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275936
2025-10-27T15:06:06.152Z,1761577566.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:06.155Z,1761577566.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 302.167328 m,
      bearing: 74.268931 deg,
      approach rate: -0.702843 m/s,
      LOS rate: 0.010342 deg/s,
      cmd heading: 77.611412 deg,
      new cmd heading: 77.624249 deg.

2025-10-27T15:06:06.156Z,1761577566.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354799 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:06.226Z,1761577566.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529390
2025-10-27T15:06:06.491Z,1761577566.491 [DAT](INFO): DAT read: 15:06:04.5768 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX=  90,-0.01,-1.813, 2.958,-1.429,-1.909, PHS= 0.199,-1.371, 0.436, RAW= 156.9,   8.7, CAL= 156.6,   9.2, ROT= 353.4,  -9.2

2025-10-27T15:06:06.492Z,1761577566.492 [DAT](INFO): got valid direction response:
 15:06:04.5768 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX=  90,-0.01,-1.813, 2.958,-1.429,-1.909, PHS= 0.199,-1.371, 0.436, RAW= 156.9,   8.7, CAL= 156.6,   9.2, ROT= 353.4,  -9.2

2025-10-27T15:06:06.493Z,1761577566.493 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T15:06:06.494Z,1761577566.494 [DAT](INFO): direction in FSK: [0.980594,-0.113459,0.159881]
2025-10-27T15:06:06.501Z,1761577566.501 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:06.501Z,1761577566.501 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:06.501Z,1761577566.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:06:06.526Z,1761577566.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225571,-0.963709,-0.142771],[0.974056,0.220353,0.051576],[-0.018245,-0.150701,0.988411]]
2025-10-27T15:06:06.573Z,1761577566.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:06.580Z,1761577566.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 301.904541 m,
      bearing: 74.273248 deg,
      approach rate: -0.623895 m/s,
      LOS rate: 0.010257 deg/s,
      cmd heading: 77.624246 deg,
      new cmd heading: 77.637207 deg.

2025-10-27T15:06:06.581Z,1761577566.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355025 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:06.734Z,1761577566.734 [DAT](INFO): DAT read: Bearing 226.1,  -9.2 (Local)

2025-10-27T15:06:06.734Z,1761577566.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.1,  -9.2 (Local)

2025-10-27T15:06:06.736Z,1761577566.736 [DAT](INFO): DAT read: Range 11 to 50 : 336.6 m  (Round-trip  448.9 ms) speed  0.4 m/s

2025-10-27T15:06:06.737Z,1761577566.737 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-10-27T15:06:06.738Z,1761577566.738 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:06.738Z,1761577566.738 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:06.739Z,1761577566.739 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:06.986Z,1761577566.986 [DAT](INFO): DAT read: user:921>

2025-10-27T15:06:06.990Z,1761577566.990 [DAT](INFO): DAT read: Tx time:15:06:06.0238

2025-10-27T15:06:06.991Z,1761577566.991 [DAT](INFO): Ping request sent.
2025-10-27T15:06:06.992Z,1761577566.992 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:06.993Z,1761577566.993 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:06.995Z,1761577566.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003495
2025-10-27T15:06:07.063Z,1761577567.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227849,-0.963427,-0.141043],[0.973516,0.222613,0.052063],[-0.018760,-0.149170,0.988634]]
2025-10-27T15:06:07.134Z,1761577567.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 336.600006 m,
 deltaT: 4.288708 s,
 deltaX: 25.800018 m,
 approachRate: 6.015802 m/s,
 rangeRepo size: 4
2025-10-27T15:06:07.134Z,1761577567.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:07.141Z,1761577567.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 301.524445 m,
      bearing: 74.277109 deg,
      approach rate: -0.678745 m/s,
      LOS rate: 0.006905 deg/s,
      cmd heading: 77.637210 deg,
      new cmd heading: 77.648810 deg.

2025-10-27T15:06:07.142Z,1761577567.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355227 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:07.236Z,1761577567.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245287
2025-10-27T15:06:07.488Z,1761577567.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497419
2025-10-27T15:06:07.600Z,1761577567.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229229,-0.963088,-0.141123],[0.973191,0.223966,0.052334],[-0.018796,-0.149336,0.988608]]
2025-10-27T15:06:07.619Z,1761577567.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:07.621Z,1761577567.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 301.194122 m,
      bearing: 74.280562 deg,
      approach rate: -0.680420 m/s,
      LOS rate: 0.007120 deg/s,
      cmd heading: 77.648808 deg,
      new cmd heading: 77.659177 deg.

2025-10-27T15:06:07.622Z,1761577567.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355408 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:07.741Z,1761577567.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749827
2025-10-27T15:06:07.995Z,1761577567.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004388
2025-10-27T15:06:08.062Z,1761577568.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230519,-0.962682,-0.141792],[0.972885,0.225196,0.052734],[-0.018835,-0.150104,0.988491]]
2025-10-27T15:06:08.129Z,1761577568.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:08.135Z,1761577568.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:08.138Z,1761577568.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 300.857819 m,
      bearing: 74.282389 deg,
      approach rate: -0.656227 m/s,
      LOS rate: 0.003568 deg/s,
      cmd heading: 77.659176 deg,
      new cmd heading: 77.664661 deg.

2025-10-27T15:06:08.143Z,1761577568.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355504 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:08.245Z,1761577568.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254001
2025-10-27T15:06:08.462Z,1761577568.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231282,-0.962499,-0.141791],[0.972710,0.225996,0.052539],[-0.018525,-0.150073,0.988501]]
2025-10-27T15:06:08.496Z,1761577568.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505260
2025-10-27T15:06:08.513Z,1761577568.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:08.524Z,1761577568.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 300.582520 m,
      bearing: 74.283928 deg,
      approach rate: -0.720418 m/s,
      LOS rate: 0.004032 deg/s,
      cmd heading: 77.664660 deg,
      new cmd heading: 77.669283 deg.

2025-10-27T15:06:08.525Z,1761577568.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355585 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:08.748Z,1761577568.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757573
2025-10-27T15:06:08.877Z,1761577568.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231635,-0.962257,-0.142854],[0.972636,0.226365,0.052327],[-0.018015,-0.151065,0.988360]]
2025-10-27T15:06:08.928Z,1761577568.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:08.931Z,1761577568.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 300.278961 m,
      bearing: 74.285647 deg,
      approach rate: -0.730925 m/s,
      LOS rate: 0.004144 deg/s,
      cmd heading: 77.669284 deg,
      new cmd heading: 77.674447 deg.

2025-10-27T15:06:08.932Z,1761577568.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355675 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:09.004Z,1761577569.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012931
2025-10-27T15:06:09.252Z,1761577569.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261231
2025-10-27T15:06:09.270Z,1761577569.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231408,-0.962307,-0.142880],[0.972704,0.226265,0.051482],[-0.017213,-0.150893,0.988400]]
2025-10-27T15:06:09.353Z,1761577569.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:09.367Z,1761577569.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 299.985443 m,
      bearing: 74.285558 deg,
      approach rate: -0.690764 m/s,
      LOS rate: -0.000209 deg/s,
      cmd heading: 77.674448 deg,
      new cmd heading: 77.674181 deg.

2025-10-27T15:06:09.369Z,1761577569.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355670 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:09.504Z,1761577569.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513568
2025-10-27T15:06:09.756Z,1761577569.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765325
2025-10-27T15:06:09.765Z,1761577569.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:09.772Z,1761577569.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 299.691620 m,
      bearing: 74.285469 deg,
      approach rate: -0.713648 m/s,
      LOS rate: -0.000217 deg/s,
      cmd heading: 77.674182 deg,
      new cmd heading: 77.673914 deg.

2025-10-27T15:06:09.773Z,1761577569.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355666 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:10.011Z,1761577570.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019426
2025-10-27T15:06:10.120Z,1761577570.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230065,-0.962576,-0.143239],[0.973056,0.225229,0.049331],[-0.015223,-0.150729,0.988458]]
2025-10-27T15:06:10.161Z,1761577570.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:10.164Z,1761577570.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:10.168Z,1761577570.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 299.375671 m,
      bearing: 74.283612 deg,
      approach rate: -0.792687 m/s,
      LOS rate: -0.004664 deg/s,
      cmd heading: 77.673915 deg,
      new cmd heading: 77.668339 deg.

2025-10-27T15:06:10.171Z,1761577570.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355568 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:10.261Z,1761577570.261 [DAT](INFO): DAT read: Rx Time:15:06:08.8534

2025-10-27T15:06:10.261Z,1761577570.261 [DAT](INFO): Rx dataTimestamp_ set to:1761577570.260895
2025-10-27T15:06:10.262Z,1761577570.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271365
2025-10-27T15:06:10.515Z,1761577570.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523823
2025-10-27T15:06:10.525Z,1761577570.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226931,-0.963860,-0.139558],[0.973827,0.222692,0.045490],[-0.012768,-0.146228,0.989169]]
2025-10-27T15:06:10.555Z,1761577570.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.34 m.
2025-10-27T15:06:10.558Z,1761577570.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 309.342102 m,
      nav range: 299.075653 m,
      bearing: 74.281667 deg,
      approach rate: -0.767363 m/s,
      LOS rate: -0.004979 deg/s,
      cmd heading: 77.668342 deg,
      new cmd heading: 77.662501 deg.

2025-10-27T15:06:10.558Z,1761577570.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355466 target range: 309.342102 and range: 310.80 m.
2025-10-27T15:06:10.772Z,1761577570.772 [DAT](INFO): DAT read: 15:06:08.8534 LVL= 31200, 32753, 29362, 32755, AGC= 64, IDX= 211,-0.24,-1.305,-2.446,-1.081,-1.482, PHS= 0.279,-0.919, 0.357, RAW= 153.1,   4.6, CAL= 152.2,   4.5, ROT= 357.8,  -4.5

2025-10-27T15:06:10.774Z,1761577570.774 [DAT](INFO): got valid direction response:
 15:06:08.8534 LVL= 31200, 32753, 29362, 32755, AGC= 64, IDX= 211,-0.24,-1.305,-2.446,-1.081,-1.482, PHS= 0.279,-0.919, 0.357, RAW= 153.1,   4.6, CAL= 152.2,   4.5, ROT= 357.8,  -4.5

2025-10-27T15:06:10.774Z,1761577570.774 [DAT](INFO): DAT read: Bearing 221.7,  -3.6 (Local)

2025-10-27T15:06:10.775Z,1761577570.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.7,  -3.6 (Local)

2025-10-27T15:06:10.776Z,1761577570.776 [DAT](INFO): DAT read: Range 11 to 50 : 319.0 m  (Round-trip  425.4 ms) speed  0.5 m/s

2025-10-27T15:06:10.777Z,1761577570.777 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:10.778Z,1761577570.778 [DAT](INFO): direction in FSK: [0.996183,-0.038270,0.078459]
2025-10-27T15:06:10.778Z,1761577570.778 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:10.782Z,1761577570.782 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:10.782Z,1761577570.782 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:10.787Z,1761577570.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:10.926Z,1761577570.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225058,-0.964094,-0.140967],[0.974278,0.220977,0.044170],[-0.011434,-0.147282,0.989028]]
2025-10-27T15:06:10.952Z,1761577570.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 319.000000 m,
      deltaT: 8.320410 s,
      deltaX: 8.200012 m,
      approachRate: 0.985530 m/s,
      rangeRepo size: 4

2025-10-27T15:06:10.954Z,1761577570.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 317.506012 m,
      bearing: 75.482110 deg,
      lat: 36.779106 deg,
      lon: -121.859493 deg,
      deltaT: 8.320410 s,
      deltaX: 8.163910 m,
      approachRate: 0.981191 m/s,
      posRepo size: 4

2025-10-27T15:06:10.971Z,1761577570.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:10.974Z,1761577570.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 298.775085 m,
      bearing: 74.279602 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004979 deg/s,
      cmd heading: 77.662502 deg,
      new cmd heading: 77.656571 deg.

2025-10-27T15:06:10.983Z,1761577570.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355363 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:11.018Z,1761577571.018 [DAT](INFO): DAT read: user:922>

2025-10-27T15:06:11.021Z,1761577571.021 [DAT](INFO): DAT read: Tx time:15:06:10.0738

2025-10-27T15:06:11.022Z,1761577571.022 [DAT](INFO): Ping request sent.
2025-10-27T15:06:11.022Z,1761577571.022 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:11.024Z,1761577571.024 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:11.026Z,1761577571.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003422
2025-10-27T15:06:11.268Z,1761577571.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245742
2025-10-27T15:06:11.381Z,1761577571.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223318,-0.964564,-0.140516],[0.974695,0.219510,0.042242],[-0.009900,-0.146393,0.989177]]
2025-10-27T15:06:11.428Z,1761577571.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:11.431Z,1761577571.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 298.391266 m,
      bearing: 74.275638 deg,
      approach rate: -0.805454 m/s,
      LOS rate: -0.008330 deg/s,
      cmd heading: 77.656573 deg,
      new cmd heading: 77.644666 deg.

2025-10-27T15:06:11.432Z,1761577571.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355155 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:11.521Z,1761577571.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499299
2025-10-27T15:06:11.772Z,1761577571.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749892
2025-10-27T15:06:11.778Z,1761577571.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220949,-0.965270,-0.139408],[0.975251,0.217473,0.039888],[-0.008185,-0.144771,0.989431]]
2025-10-27T15:06:11.797Z,1761577571.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:11.800Z,1761577571.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 298.096771 m,
      bearing: 74.272452 deg,
      approach rate: -0.798612 m/s,
      LOS rate: -0.008649 deg/s,
      cmd heading: 77.644668 deg,
      new cmd heading: 77.635100 deg.

2025-10-27T15:06:11.801Z,1761577571.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354988 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:12.028Z,1761577572.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005236
2025-10-27T15:06:12.178Z,1761577572.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218610,-0.965688,-0.140203],[0.975790,0.215375,0.038038],[-0.006537,-0.145124,0.989392]]
2025-10-27T15:06:12.228Z,1761577572.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:12.230Z,1761577572.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:12.237Z,1761577572.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 297.758270 m,
      bearing: 74.267587 deg,
      approach rate: -0.781227 m/s,
      LOS rate: -0.011241 deg/s,
      cmd heading: 77.635099 deg,
      new cmd heading: 77.620488 deg.

2025-10-27T15:06:12.238Z,1761577572.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354733 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:12.278Z,1761577572.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255653
2025-10-27T15:06:12.528Z,1761577572.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505885
2025-10-27T15:06:12.589Z,1761577572.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217177,-0.965983,-0.140394],[0.976118,0.214132,0.036626],[-0.005317,-0.144995,0.989418]]
2025-10-27T15:06:12.607Z,1761577572.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:12.610Z,1761577572.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 297.439240 m,
      bearing: 74.262900 deg,
      approach rate: -0.847310 m/s,
      LOS rate: -0.012460 deg/s,
      cmd heading: 77.620490 deg,
      new cmd heading: 77.606415 deg.

2025-10-27T15:06:12.611Z,1761577572.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354487 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:12.780Z,1761577572.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757800
2025-10-27T15:06:12.986Z,1761577572.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216064,-0.966226,-0.140440],[0.976370,0.213201,0.035303],[-0.004169,-0.144749,0.989460]]
2025-10-27T15:06:13.004Z,1761577573.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:13.026Z,1761577573.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 297.116577 m,
      bearing: 74.258080 deg,
      approach rate: -0.811878 m/s,
      LOS rate: -0.012144 deg/s,
      cmd heading: 77.606413 deg,
      new cmd heading: 77.591934 deg.

2025-10-27T15:06:13.035Z,1761577573.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012373
2025-10-27T15:06:13.044Z,1761577573.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354235 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:13.284Z,1761577573.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261658
2025-10-27T15:06:13.395Z,1761577573.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214318,-0.966512,-0.141146],[0.976759,0.211618,0.034049],[-0.003040,-0.145163,0.989403]]
2025-10-27T15:06:13.431Z,1761577573.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:13.434Z,1761577573.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 296.769714 m,
      bearing: 74.251429 deg,
      approach rate: -0.813398 m/s,
      LOS rate: -0.015614 deg/s,
      cmd heading: 77.591933 deg,
      new cmd heading: 77.571957 deg.

2025-10-27T15:06:13.434Z,1761577573.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353886 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:13.537Z,1761577573.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515381
2025-10-27T15:06:13.788Z,1761577573.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765952
2025-10-27T15:06:13.795Z,1761577573.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213317,-0.966593,-0.142108],[0.976981,0.210730,0.033186],[-0.002131,-0.145916,0.989295]]
2025-10-27T15:06:13.820Z,1761577573.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:13.843Z,1761577573.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 296.452820 m,
      bearing: 74.245276 deg,
      approach rate: -0.813762 m/s,
      LOS rate: -0.015817 deg/s,
      cmd heading: 77.571954 deg,
      new cmd heading: 77.553476 deg.

2025-10-27T15:06:13.844Z,1761577573.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353564 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:14.042Z,1761577574.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019826
2025-10-27T15:06:14.198Z,1761577574.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212497,-0.966853,-0.141562],[0.977161,0.210034,0.032290],[-0.001486,-0.145191,0.989403]]
2025-10-27T15:06:14.246Z,1761577574.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:14.249Z,1761577574.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:14.252Z,1761577574.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 296.117432 m,
      bearing: 74.239639 deg,
      approach rate: -0.782354 m/s,
      LOS rate: -0.013164 deg/s,
      cmd heading: 77.553479 deg,
      new cmd heading: 77.536549 deg.

2025-10-27T15:06:14.253Z,1761577574.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353268 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:14.292Z,1761577574.292 [DAT](INFO): DAT read: Rx Time:15:06:12.8994

2025-10-27T15:06:14.293Z,1761577574.293 [DAT](INFO): Rx dataTimestamp_ set to:1761577574.292823
2025-10-27T15:06:14.294Z,1761577574.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271675
2025-10-27T15:06:14.544Z,1761577574.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521845
2025-10-27T15:06:14.602Z,1761577574.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211539,-0.967357,-0.139542],[0.977369,0.209250,0.031047],[-0.000835,-0.142952,0.989729]]
2025-10-27T15:06:14.627Z,1761577574.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:14.630Z,1761577574.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 295.820923 m,
      bearing: 74.234586 deg,
      approach rate: -0.784276 m/s,
      LOS rate: -0.013380 deg/s,
      cmd heading: 77.536547 deg,
      new cmd heading: 77.521371 deg.

2025-10-27T15:06:14.631Z,1761577574.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353003 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:14.812Z,1761577574.812 [DAT](INFO): DAT read: 15:06:12.8994 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 408, 0.08, 1.199,-0.310, 1.408, 0.685, PHS= 0.616,-0.950, 0.679, RAW= 151.9,  -4.4, CAL= 151.6,  -5.6, ROT= 358.4,   5.6

2025-10-27T15:06:14.813Z,1761577574.813 [DAT](INFO): got valid direction response:
 15:06:12.8994 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 408, 0.08, 1.199,-0.310, 1.408, 0.685, PHS= 0.616,-0.950, 0.679, RAW= 151.9,  -4.4, CAL= 151.6,  -5.6, ROT= 358.4,   5.6

2025-10-27T15:06:14.814Z,1761577574.814 [DAT](INFO): DAT read: Bearing 212.6,  -0.9 (Local)

2025-10-27T15:06:14.814Z,1761577574.814 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.6,  -0.9 (Local)

2025-10-27T15:06:14.814Z,1761577574.814 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T15:06:14.820Z,1761577574.820 [DAT](INFO): direction in FSK: [0.994839,-0.027788,-0.097583]
2025-10-27T15:06:14.876Z,1761577574.876 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:14.876Z,1761577574.876 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:14.877Z,1761577574.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:06:15.005Z,1761577575.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210422,-0.967531,-0.140020],[0.977611,0.208237,0.030246],[-0.000106,-0.143249,0.989687]]
2025-10-27T15:06:15.031Z,1761577575.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:15.034Z,1761577575.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 295.504456 m,
      bearing: 74.229111 deg,
      approach rate: -0.783143 m/s,
      LOS rate: -0.013563 deg/s,
      cmd heading: 77.521370 deg,
      new cmd heading: 77.504927 deg.

2025-10-27T15:06:15.049Z,1761577575.049 [DAT](INFO): DAT read: Range 11 to 50 : 316.0 m  (Round-trip  421.4 ms) speed  0.8 m/s

2025-10-27T15:06:15.050Z,1761577575.050 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-10-27T15:06:15.050Z,1761577575.050 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:15.050Z,1761577575.050 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:15.051Z,1761577575.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:15.059Z,1761577575.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352716 target range: 317.506012 and range: 319.00 m.
2025-10-27T15:06:15.300Z,1761577575.300 [DAT](INFO): DAT read: user:923>

2025-10-27T15:06:15.301Z,1761577575.301 [DAT](INFO): DAT read: Tx time:15:06:14.3238

2025-10-27T15:06:15.301Z,1761577575.301 [DAT](INFO): Ping request sent.
2025-10-27T15:06:15.301Z,1761577575.301 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:15.301Z,1761577575.301 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:15.302Z,1761577575.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-10-27T15:06:15.422Z,1761577575.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209534,-0.967633,-0.140647],[0.977801,0.207445,0.029524],[0.000609,-0.143711,0.989619]]
2025-10-27T15:06:15.490Z,1761577575.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 316.000000 m,
      deltaT: 4.283556 s,
      deltaX: -3.000000 m,
      approachRate: -0.700353 m/s,
      rangeRepo size: 4

2025-10-27T15:06:15.495Z,1761577575.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:15.497Z,1761577575.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 295.162903 m,
      bearing: 74.223961 deg,
      approach rate: -0.745085 m/s,
      LOS rate: -0.011246 deg/s,
      cmd heading: 77.504930 deg,
      new cmd heading: 77.489464 deg.

2025-10-27T15:06:15.498Z,1761577575.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352446 target range: 317.506012 and range: 316.00 m.
2025-10-27T15:06:15.553Z,1761577575.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251584
2025-10-27T15:06:15.804Z,1761577575.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502947
2025-10-27T15:06:15.827Z,1761577575.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208440,-0.967752,-0.141452],[0.978034,0.206478,0.028574],[0.001555,-0.144301,0.989533]]
2025-10-27T15:06:15.867Z,1761577575.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:15.876Z,1761577575.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 294.864105 m,
      bearing: 74.219382 deg,
      approach rate: -0.800204 m/s,
      LOS rate: -0.012275 deg/s,
      cmd heading: 77.489466 deg,
      new cmd heading: 77.475715 deg.

2025-10-27T15:06:15.877Z,1761577575.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352206 target range: 317.506012 and range: 316.00 m.
2025-10-27T15:06:16.059Z,1761577576.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757601
2025-10-27T15:06:16.286Z,1761577576.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:16.289Z,1761577576.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:16.292Z,1761577576.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 294.533417 m,
      bearing: 74.214417 deg,
      approach rate: -0.776240 m/s,
      LOS rate: -0.011669 deg/s,
      cmd heading: 77.475717 deg,
      new cmd heading: 77.460803 deg.

2025-10-27T15:06:16.293Z,1761577576.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351946 target range: 317.506012 and range: 316.00 m.
2025-10-27T15:06:16.324Z,1761577576.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.022731
2025-10-27T15:06:16.560Z,1761577576.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258894
2025-10-27T15:06:16.636Z,1761577576.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206931,-0.967872,-0.142839],[0.978350,0.205198,0.026920],[0.003256,-0.145317,0.989380]]
2025-10-27T15:06:16.647Z,1761577576.647 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:06:16.656Z,1761577576.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:16.658Z,1761577576.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 294.260437 m,
      bearing: 74.210228 deg,
      approach rate: -0.744051 m/s,
      LOS rate: -0.011427 deg/s,
      cmd heading: 77.460807 deg,
      new cmd heading: 77.448230 deg.

2025-10-27T15:06:16.660Z,1761577576.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351727 target range: 317.506012 and range: 316.00 m.
2025-10-27T15:06:16.812Z,1761577576.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510989
2025-10-27T15:06:17.038Z,1761577577.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207117,-0.967492,-0.145127],[0.978308,0.205431,0.026674],[0.004007,-0.147503,0.989053]]
2025-10-27T15:06:17.056Z,1761577577.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:17.059Z,1761577577.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 293.960663 m,
      bearing: 74.205635 deg,
      approach rate: -0.748302 m/s,
      LOS rate: -0.011478 deg/s,
      cmd heading: 77.448232 deg,
      new cmd heading: 77.434438 deg.

2025-10-27T15:06:17.060Z,1761577577.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351486 target range: 317.506012 and range: 316.00 m.
2025-10-27T15:06:17.064Z,1761577577.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763058
2025-10-27T15:06:17.320Z,1761577577.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018246
2025-10-27T15:06:17.446Z,1761577577.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207218,-0.967445,-0.145295],[0.978284,0.205613,0.026145],[0.004581,-0.147557,0.989043]]
2025-10-27T15:06:17.494Z,1761577577.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:17.497Z,1761577577.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 293.651581 m,
      bearing: 74.202984 deg,
      approach rate: -0.711418 m/s,
      LOS rate: -0.006108 deg/s,
      cmd heading: 77.434435 deg,
      new cmd heading: 77.426474 deg.

2025-10-27T15:06:17.498Z,1761577577.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351347 target range: 317.506012 and range: 316.00 m.
2025-10-27T15:06:17.569Z,1761577577.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267918
2025-10-27T15:06:17.652Z,1761577577.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:06:17.820Z,1761577577.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518922
2025-10-27T15:06:17.870Z,1761577577.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207638,-0.967232,-0.146111],[0.978193,0.206056,0.026047],[0.004913,-0.148333,0.988925]]
2025-10-27T15:06:17.889Z,1761577577.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:17.908Z,1761577577.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 293.368103 m,
      bearing: 74.200572 deg,
      approach rate: -0.711796 m/s,
      LOS rate: -0.006061 deg/s,
      cmd heading: 77.426471 deg,
      new cmd heading: 77.419229 deg.

2025-10-27T15:06:17.909Z,1761577577.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351220 target range: 317.506012 and range: 316.00 m.
2025-10-27T15:06:18.073Z,1761577578.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771664
2025-10-27T15:06:18.249Z,1761577578.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208892,-0.966792,-0.147234],[0.977926,0.207262,0.026500],[0.004896,-0.149520,0.988747]]
2025-10-27T15:06:18.295Z,1761577578.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:18.297Z,1761577578.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:18.300Z,1761577578.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 293.091522 m,
      bearing: 74.199974 deg,
      approach rate: -0.678084 m/s,
      LOS rate: -0.001468 deg/s,
      cmd heading: 77.419231 deg,
      new cmd heading: 77.417435 deg.

2025-10-27T15:06:18.301Z,1761577578.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351189 target range: 317.506012 and range: 316.00 m.
2025-10-27T15:06:18.324Z,1761577578.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022919
2025-10-27T15:06:18.576Z,1761577578.576 [DAT](INFO): DAT read: Rx Time:15:06:17.1258

2025-10-27T15:06:18.576Z,1761577578.576 [DAT](INFO): Rx dataTimestamp_ set to:1761577578.576105
2025-10-27T15:06:18.577Z,1761577578.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276001
2025-10-27T15:06:18.653Z,1761577578.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211213,-0.965927,-0.149577],[0.977430,0.209418,0.027833],[0.004439,-0.152079,0.988358]]
2025-10-27T15:06:18.680Z,1761577578.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.51 m.
2025-10-27T15:06:18.704Z,1761577578.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.506012 m,
      nav range: 292.830872 m,
      bearing: 74.199531 deg,
      approach rate: -0.679643 m/s,
      LOS rate: -0.001157 deg/s,
      cmd heading: 77.417435 deg,
      new cmd heading: 77.416104 deg.

2025-10-27T15:06:18.705Z,1761577578.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351166 target range: 317.506012 and range: 316.00 m.
2025-10-27T15:06:18.828Z,1761577578.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526943
2025-10-27T15:06:19.085Z,1761577579.085 [DAT](INFO): DAT read: 15:06:17.1258 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 405, 0.01,-0.154,-1.610, 0.094,-0.565, PHS= 0.513,-1.000, 0.615, RAW= 153.2,  -1.7, CAL= 152.4,  -2.7, ROT= 357.6,   2.7

2025-10-27T15:06:19.086Z,1761577579.086 [DAT](INFO): got valid direction response:
 15:06:17.1258 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 405, 0.01,-0.154,-1.610, 0.094,-0.565, PHS= 0.513,-1.000, 0.615, RAW= 153.2,  -1.7, CAL= 152.4,  -2.7, ROT= 357.6,   2.7

2025-10-27T15:06:19.091Z,1761577579.091 [DAT](INFO): DAT read: Bearing 215.4,  -1.8 (Local)

2025-10-27T15:06:19.092Z,1761577579.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.4,  -1.8 (Local)

2025-10-27T15:06:19.093Z,1761577579.093 [DAT](INFO): DAT read: Range 11 to 50 : 298.4 m  (Round-trip  397.9 ms) speed  1.0 m/s

2025-10-27T15:06:19.094Z,1761577579.094 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:19.095Z,1761577579.095 [DAT](INFO): direction in FSK: [0.998014,-0.041829,-0.047106]
2025-10-27T15:06:19.095Z,1761577579.095 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:19.109Z,1761577579.109 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:19.109Z,1761577579.109 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:19.109Z,1761577579.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:19.209Z,1761577579.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 298.399994 m,
      deltaT: 4.031992 s,
      deltaX: -17.600006 m,
      approachRate: -4.365089 m/s,
      rangeRepo size: 4

2025-10-27T15:06:19.231Z,1761577579.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.001617 m,
      bearing: 75.024343 deg,
      lat: 36.779106 deg,
      lon: -121.859434 deg,
      deltaT: 8.315548 s,
      deltaX: -20.504395 m,
      approachRate: -2.465790 m/s,
      posRepo size: 4

2025-10-27T15:06:19.232Z,1761577579.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.00 m.
2025-10-27T15:06:19.235Z,1761577579.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.001617 m,
      nav range: 297.584229 m,
      bearing: 74.476036 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001157 deg/s,
      cmd heading: 77.416103 deg,
      new cmd heading: 77.414271 deg.

2025-10-27T15:06:19.240Z,1761577579.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351134 target range: 297.001617 and range: 298.40 m.
2025-10-27T15:06:19.332Z,1761577579.332 [DAT](INFO): DAT read: user:924>

2025-10-27T15:06:19.333Z,1761577579.333 [DAT](INFO): DAT read: Tx time:15:06:18.3738

2025-10-27T15:06:19.333Z,1761577579.333 [DAT](INFO): Ping request sent.
2025-10-27T15:06:19.333Z,1761577579.333 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:19.333Z,1761577579.333 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:19.334Z,1761577579.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-27T15:06:19.465Z,1761577579.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216459,-0.964074,-0.153968],[0.976286,0.214274,0.030849],[0.003251,-0.156994,0.987594]]
2025-10-27T15:06:19.516Z,1761577579.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.00 m.
2025-10-27T15:06:19.518Z,1761577579.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.001617 m,
      nav range: 297.362061 m,
      bearing: 74.477214 deg,
      approach rate: -0.722674 m/s,
      LOS rate: 0.003835 deg/s,
      cmd heading: 77.414272 deg,
      new cmd heading: 77.417809 deg.

2025-10-27T15:06:19.532Z,1761577579.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351196 target range: 297.001617 and range: 298.40 m.
2025-10-27T15:06:19.585Z,1761577579.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251860
2025-10-27T15:06:19.838Z,1761577579.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504056
2025-10-27T15:06:19.880Z,1761577579.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218719,-0.963222,-0.156094],[0.975783,0.216389,0.031977],[0.002976,-0.159308,0.987224]]
2025-10-27T15:06:19.898Z,1761577579.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.00 m.
2025-10-27T15:06:19.901Z,1761577579.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.001617 m,
      nav range: 297.112152 m,
      bearing: 74.478652 deg,
      approach rate: -0.653050 m/s,
      LOS rate: 0.003759 deg/s,
      cmd heading: 77.417811 deg,
      new cmd heading: 77.422126 deg.

2025-10-27T15:06:19.902Z,1761577579.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351271 target range: 297.001617 and range: 298.40 m.
2025-10-27T15:06:20.088Z,1761577580.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754645
2025-10-27T15:06:20.324Z,1761577580.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:20.326Z,1761577580.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.00 m.
2025-10-27T15:06:20.329Z,1761577580.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.001617 m,
      nav range: 296.833801 m,
      bearing: 74.481641 deg,
      approach rate: -0.650799 m/s,
      LOS rate: 0.006996 deg/s,
      cmd heading: 77.422127 deg,
      new cmd heading: 77.431104 deg.

2025-10-27T15:06:20.330Z,1761577580.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351428 target range: 297.001617 and range: 298.40 m.
2025-10-27T15:06:20.342Z,1761577580.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008204
2025-10-27T15:06:20.592Z,1761577580.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258654
2025-10-27T15:06:20.677Z,1761577580.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222158,-0.961871,-0.159532],[0.975007,0.219641,0.033466],[0.002850,-0.162980,0.986625]]
2025-10-27T15:06:20.696Z,1761577580.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.00 m.
2025-10-27T15:06:20.698Z,1761577580.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.001617 m,
      nav range: 296.593109 m,
      bearing: 74.484388 deg,
      approach rate: -0.652408 m/s,
      LOS rate: 0.007453 deg/s,
      cmd heading: 77.431102 deg,
      new cmd heading: 77.439351 deg.

2025-10-27T15:06:20.700Z,1761577580.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351572 target range: 297.001617 and range: 298.40 m.
2025-10-27T15:06:20.845Z,1761577580.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511125
2025-10-27T15:06:21.096Z,1761577581.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762699
2025-10-27T15:06:21.132Z,1761577581.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.00 m.
2025-10-27T15:06:21.135Z,1761577581.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.001617 m,
      nav range: 296.310974 m,
      bearing: 74.487615 deg,
      approach rate: -0.644908 m/s,
      LOS rate: 0.007382 deg/s,
      cmd heading: 77.439353 deg,
      new cmd heading: 77.449042 deg.

2025-10-27T15:06:21.136Z,1761577581.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351741 target range: 297.001617 and range: 298.40 m.
2025-10-27T15:06:21.349Z,1761577581.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015657
2025-10-27T15:06:21.484Z,1761577581.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224992,-0.960941,-0.161158],[0.974356,0.222400,0.034184],[0.002992,-0.164716,0.986337]]
2025-10-27T15:06:21.536Z,1761577581.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.00 m.
2025-10-27T15:06:21.538Z,1761577581.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.001617 m,
      nav range: 296.058899 m,
      bearing: 74.490078 deg,
      approach rate: -0.625233 m/s,
      LOS rate: 0.006113 deg/s,
      cmd heading: 77.449045 deg,
      new cmd heading: 77.456439 deg.

2025-10-27T15:06:21.551Z,1761577581.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351870 target range: 297.001617 and range: 298.40 m.
2025-10-27T15:06:21.600Z,1761577581.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266750
2025-10-27T15:06:21.853Z,1761577581.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519024
2025-10-27T15:06:21.887Z,1761577581.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225607,-0.961082,-0.159445],[0.974212,0.223151,0.033381],[0.003499,-0.162864,0.986642]]
2025-10-27T15:06:21.905Z,1761577581.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.00 m.
2025-10-27T15:06:21.924Z,1761577581.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.001617 m,
      nav range: 295.810730 m,
      bearing: 74.492540 deg,
      approach rate: -0.671967 m/s,
      LOS rate: 0.006674 deg/s,
      cmd heading: 77.456442 deg,
      new cmd heading: 77.463836 deg.

2025-10-27T15:06:21.925Z,1761577581.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351999 target range: 297.001617 and range: 298.40 m.
2025-10-27T15:06:22.104Z,1761577582.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770691
2025-10-27T15:06:22.287Z,1761577582.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225989,-0.961235,-0.157975],[0.974122,0.223653,0.032648],[0.003950,-0.161264,0.986903]]
2025-10-27T15:06:22.325Z,1761577582.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:22.328Z,1761577582.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.00 m.
2025-10-27T15:06:22.347Z,1761577582.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.001617 m,
      nav range: 295.533569 m,
      bearing: 74.495101 deg,
      approach rate: -0.655626 m/s,
      LOS rate: 0.006065 deg/s,
      cmd heading: 77.463839 deg,
      new cmd heading: 77.471530 deg.

2025-10-27T15:06:22.349Z,1761577582.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352133 target range: 297.001617 and range: 298.40 m.
2025-10-27T15:06:22.357Z,1761577582.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023719
2025-10-27T15:06:22.608Z,1761577582.608 [DAT](INFO): DAT read: Rx Time:15:06:21.1723

2025-10-27T15:06:22.609Z,1761577582.609 [DAT](INFO): Rx dataTimestamp_ set to:1761577582.608437
2025-10-27T15:06:22.609Z,1761577582.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276034
2025-10-27T15:06:22.703Z,1761577582.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225962,-0.961642,-0.155518],[0.974124,0.223852,0.031182],[0.004827,-0.158540,0.987341]]
2025-10-27T15:06:22.744Z,1761577582.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.00 m.
2025-10-27T15:06:22.749Z,1761577582.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.001617 m,
      nav range: 295.265198 m,
      bearing: 74.497593 deg,
      approach rate: -0.644769 m/s,
      LOS rate: 0.005990 deg/s,
      cmd heading: 77.471530 deg,
      new cmd heading: 77.479010 deg.

2025-10-27T15:06:22.750Z,1761577582.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352264 target range: 297.001617 and range: 298.40 m.
2025-10-27T15:06:22.861Z,1761577582.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527525
2025-10-27T15:06:23.103Z,1761577583.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226030,-0.962079,-0.152694],[0.974104,0.224136,0.029737],[0.005615,-0.155461,0.987826]]
2025-10-27T15:06:23.117Z,1761577583.117 [DAT](INFO): DAT read: 15:06:21.1723 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 403,-0.00,-1.760, 3.066,-1.363,-1.810, PHS= 0.152,-1.362, 0.402, RAW= 157.5,   9.8, CAL= 157.4,  10.6, ROT= 352.6, -10.6

2025-10-27T15:06:23.118Z,1761577583.118 [DAT](INFO): got valid direction response:
 15:06:21.1723 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 403,-0.00,-1.760, 3.066,-1.363,-1.810, PHS= 0.152,-1.362, 0.402, RAW= 157.5,   9.8, CAL= 157.4,  10.6, ROT= 352.6, -10.6

2025-10-27T15:06:23.120Z,1761577583.120 [DAT](INFO): DAT read: Bearing 227.9,  -8.7 (Local)

2025-10-27T15:06:23.120Z,1761577583.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.9,  -8.7 (Local)

2025-10-27T15:06:23.121Z,1761577583.121 [DAT](INFO): DAT read: Range 11 to 50 : 295.8 m  (Round-trip  394.4 ms) speed  0.4 m/s

2025-10-27T15:06:23.122Z,1761577583.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:23.123Z,1761577583.123 [DAT](INFO): direction in FSK: [0.974749,-0.126597,0.183951]
2025-10-27T15:06:23.123Z,1761577583.123 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:23.127Z,1761577583.127 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:23.130Z,1761577583.130 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:23.130Z,1761577583.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:23.204Z,1761577583.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.799988 m,
      deltaT: 4.031996 s,
      deltaX: -2.600006 m,
      approachRate: -0.644843 m/s,
      rangeRepo size: 4

2025-10-27T15:06:23.238Z,1761577583.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 294.411926 m,
      bearing: 71.278180 deg,
      lat: 36.779106 deg,
      lon: -121.859493 deg,
      deltaT: 4.031996 s,
      deltaX: -2.589691 m,
      approachRate: -0.642285 m/s,
      posRepo size: 4

2025-10-27T15:06:23.248Z,1761577583.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.41 m.
2025-10-27T15:06:23.251Z,1761577583.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.411926 m,
      nav range: 289.903748 m,
      bearing: 74.220997 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005990 deg/s,
      cmd heading: 77.479009 deg,
      new cmd heading: 77.487045 deg.

2025-10-27T15:06:23.256Z,1761577583.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352404 target range: 294.411926 and range: 295.80 m.
2025-10-27T15:06:23.364Z,1761577583.364 [DAT](INFO): DAT read: user:925>

2025-10-27T15:06:23.365Z,1761577583.365 [DAT](INFO): DAT read: Tx time:15:06:22.4238

2025-10-27T15:06:23.365Z,1761577583.365 [DAT](INFO): Ping request sent.
2025-10-27T15:06:23.365Z,1761577583.365 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:23.365Z,1761577583.365 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:23.366Z,1761577583.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-27T15:06:23.574Z,1761577583.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225616,-0.962599,-0.149999],[0.974194,0.223958,0.028082],[0.006561,-0.152464,0.988287]]
2025-10-27T15:06:23.616Z,1761577583.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250739
2025-10-27T15:06:23.647Z,1761577583.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.41 m.
2025-10-27T15:06:23.650Z,1761577583.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.411926 m,
      nav range: 289.564301 m,
      bearing: 74.223140 deg,
      approach rate: -0.746814 m/s,
      LOS rate: 0.004720 deg/s,
      cmd heading: 77.487048 deg,
      new cmd heading: 77.493484 deg.

2025-10-27T15:06:23.652Z,1761577583.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352516 target range: 294.411926 and range: 295.80 m.
2025-10-27T15:06:23.868Z,1761577583.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502762
2025-10-27T15:06:23.970Z,1761577583.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224893,-0.963316,-0.146444],[0.974354,0.223494,0.026155],[0.007533,-0.148570,0.988873]]
2025-10-27T15:06:23.997Z,1761577583.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.41 m.
2025-10-27T15:06:24.000Z,1761577584.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.411926 m,
      nav range: 289.309387 m,
      bearing: 74.224724 deg,
      approach rate: -0.724925 m/s,
      LOS rate: 0.004509 deg/s,
      cmd heading: 77.493482 deg,
      new cmd heading: 77.498239 deg.

2025-10-27T15:06:24.001Z,1761577584.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352599 target range: 294.411926 and range: 295.80 m.
2025-10-27T15:06:24.120Z,1761577584.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754718
2025-10-27T15:06:24.372Z,1761577584.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006853
2025-10-27T15:06:24.376Z,1761577584.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224270,-0.963675,-0.145031],[0.974491,0.223036,0.024922],[0.008331,-0.146921,0.989113]]
2025-10-27T15:06:24.427Z,1761577584.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:24.429Z,1761577584.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.41 m.
2025-10-27T15:06:24.432Z,1761577584.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.411926 m,
      nav range: 288.994232 m,
      bearing: 74.223544 deg,
      approach rate: -0.730049 m/s,
      LOS rate: -0.002737 deg/s,
      cmd heading: 77.498236 deg,
      new cmd heading: 77.494692 deg.

2025-10-27T15:06:24.433Z,1761577584.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352538 target range: 294.411926 and range: 295.80 m.
2025-10-27T15:06:24.625Z,1761577584.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259896
2025-10-27T15:06:24.778Z,1761577584.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224006,-0.963693,-0.145315],[0.974544,0.222912,0.023984],[0.009279,-0.146989,0.989095]]
2025-10-27T15:06:24.804Z,1761577584.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.41 m.
2025-10-27T15:06:24.806Z,1761577584.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.411926 m,
      nav range: 288.719879 m,
      bearing: 74.222500 deg,
      approach rate: -0.732217 m/s,
      LOS rate: -0.002789 deg/s,
      cmd heading: 77.494691 deg,
      new cmd heading: 77.491556 deg.

2025-10-27T15:06:24.807Z,1761577584.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352483 target range: 294.411926 and range: 295.80 m.
2025-10-27T15:06:24.876Z,1761577584.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882
2025-10-27T15:06:25.128Z,1761577585.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762763
2025-10-27T15:06:25.182Z,1761577585.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223710,-0.963704,-0.145697],[0.974603,0.222740,0.023155],[0.010138,-0.147177,0.989058]]
2025-10-27T15:06:25.266Z,1761577585.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.41 m.
2025-10-27T15:06:25.273Z,1761577585.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.411926 m,
      nav range: 288.426514 m,
      bearing: 74.221363 deg,
      approach rate: -0.636642 m/s,
      LOS rate: -0.002469 deg/s,
      cmd heading: 77.491556 deg,
      new cmd heading: 77.488143 deg.

2025-10-27T15:06:25.274Z,1761577585.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352423 target range: 294.411926 and range: 295.80 m.
2025-10-27T15:06:25.381Z,1761577585.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015212
2025-10-27T15:06:25.592Z,1761577585.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223253,-0.963714,-0.146333],[0.974697,0.222422,0.022233],[0.011122,-0.147594,0.988985]]
2025-10-27T15:06:25.632Z,1761577585.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266845
2025-10-27T15:06:25.652Z,1761577585.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.41 m.
2025-10-27T15:06:25.659Z,1761577585.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.411926 m,
      nav range: 288.085754 m,
      bearing: 74.218588 deg,
      approach rate: -0.878723 m/s,
      LOS rate: -0.007166 deg/s,
      cmd heading: 77.488141 deg,
      new cmd heading: 77.479805 deg.

2025-10-27T15:06:25.660Z,1761577585.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352278 target range: 294.411926 and range: 295.80 m.
2025-10-27T15:06:25.884Z,1761577585.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518847
2025-10-27T15:06:26.107Z,1761577586.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222676,-0.963686,-0.147393],[0.974818,0.221971,0.021424],[0.012071,-0.148452,0.988846]]
2025-10-27T15:06:26.136Z,1761577586.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770848
2025-10-27T15:06:26.153Z,1761577586.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.41 m.
2025-10-27T15:06:26.160Z,1761577586.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.411926 m,
      nav range: 287.705322 m,
      bearing: 74.215436 deg,
      approach rate: -0.760321 m/s,
      LOS rate: -0.006308 deg/s,
      cmd heading: 77.479808 deg,
      new cmd heading: 77.470339 deg.

2025-10-27T15:06:26.161Z,1761577586.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352113 target range: 294.411926 and range: 295.80 m.
2025-10-27T15:06:26.388Z,1761577586.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022969
2025-10-27T15:06:26.641Z,1761577586.641 [DAT](INFO): DAT read: Rx Time:15:06:25.2188

2025-10-27T15:06:26.641Z,1761577586.641 [DAT](INFO): Rx dataTimestamp_ set to:1761577586.641010
2025-10-27T15:06:26.642Z,1761577586.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277052
2025-10-27T15:06:26.708Z,1761577586.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221020,-0.963897,-0.148503],[0.975171,0.220584,0.019614],[0.013851,-0.149151,0.988717]]
2025-10-27T15:06:26.745Z,1761577586.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:26.753Z,1761577586.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.41 m.
2025-10-27T15:06:26.761Z,1761577586.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.411926 m,
      nav range: 287.249207 m,
      bearing: 74.211490 deg,
      approach rate: -0.760132 m/s,
      LOS rate: -0.006586 deg/s,
      cmd heading: 77.470341 deg,
      new cmd heading: 77.458486 deg.

2025-10-27T15:06:26.761Z,1761577586.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351906 target range: 294.411926 and range: 295.80 m.
2025-10-27T15:06:26.892Z,1761577586.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526696
2025-10-27T15:06:27.157Z,1761577587.157 [DAT](INFO): DAT read: 15:06:25.2188 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 400, 0.41, 1.746, 0.257, 2.142, 1.675, PHS= 0.173,-1.373, 0.423, RAW= 157.4,   9.3, CAL= 157.2,   9.9, ROT= 352.8,  -9.9

2025-10-27T15:06:27.158Z,1761577587.158 [DAT](INFO): got valid direction response:
 15:06:25.2188 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 400, 0.41, 1.746, 0.257, 2.142, 1.675, PHS= 0.173,-1.373, 0.423, RAW= 157.4,   9.3, CAL= 157.2,   9.9, ROT= 352.8,  -9.9

2025-10-27T15:06:27.160Z,1761577587.160 [DAT](INFO): DAT read: Bearing 228.0,  -7.9 (Local)

2025-10-27T15:06:27.160Z,1761577587.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.0,  -7.9 (Local)

2025-10-27T15:06:27.162Z,1761577587.162 [DAT](INFO): DAT read: Range 11 to 50 : 293.2 m  (Round-trip  391.0 ms) speed  0.3 m/s

2025-10-27T15:06:27.162Z,1761577587.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:27.204Z,1761577587.204 [DAT](INFO): direction in FSK: [0.977341,-0.123467,0.171929]
2025-10-27T15:06:27.204Z,1761577587.204 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:27.216Z,1761577587.216 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:27.216Z,1761577587.216 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:27.217Z,1761577587.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:27.253Z,1761577587.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220027,-0.963911,-0.149882],[0.975386,0.219677,0.019097],[0.014518,-0.150395,0.988519]]
2025-10-27T15:06:27.354Z,1761577587.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.200012 m,
      deltaT: 4.034583 s,
      deltaX: -2.599976 m,
      approachRate: -0.644422 m/s,
      rangeRepo size: 4

2025-10-27T15:06:27.361Z,1761577587.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 291.823242 m,
      bearing: 71.650070 deg,
      lat: 36.779145 deg,
      lon: -121.859499 deg,
      deltaT: 4.034583 s,
      deltaX: -2.588684 m,
      approachRate: -0.641624 m/s,
      posRepo size: 4

2025-10-27T15:06:27.362Z,1761577587.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.82 m.
2025-10-27T15:06:27.369Z,1761577587.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.823242 m,
      nav range: 287.542694 m,
      bearing: 73.359272 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006586 deg/s,
      cmd heading: 77.458484 deg,
      new cmd heading: 77.446647 deg.

2025-10-27T15:06:27.370Z,1761577587.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351699 target range: 291.823242 and range: 293.20 m.
2025-10-27T15:06:27.396Z,1761577587.396 [DAT](INFO): DAT read: user:926>

2025-10-27T15:06:27.397Z,1761577587.397 [DAT](INFO): DAT read: Tx time:15:06:26.4737

2025-10-27T15:06:27.397Z,1761577587.397 [DAT](INFO): Ping request sent.
2025-10-27T15:06:27.397Z,1761577587.397 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:27.397Z,1761577587.397 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:27.398Z,1761577587.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-27T15:06:27.648Z,1761577587.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772
2025-10-27T15:06:27.685Z,1761577587.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218899,-0.963862,-0.151833],[0.975633,0.218592,0.018918],[0.014955,-0.152274,0.988225]]
2025-10-27T15:06:27.707Z,1761577587.707 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050318D,       +34.98,     +2370.93,     -124.04,   8.60,  0.00
2025-10-27T15:06:27.726Z,1761577587.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.82 m.
2025-10-27T15:06:27.750Z,1761577587.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.823242 m,
      nav range: 287.226654 m,
      bearing: 73.355452 deg,
      approach rate: -0.845346 m/s,
      LOS rate: -0.010228 deg/s,
      cmd heading: 77.446648 deg,
      new cmd heading: 77.435176 deg.

2025-10-27T15:06:27.752Z,1761577587.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351499 target range: 291.823242 and range: 293.20 m.
2025-10-27T15:06:27.900Z,1761577587.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502749
2025-10-27T15:06:28.088Z,1761577588.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217894,-0.963948,-0.152731],[0.975848,0.217677,0.018348],[0.015559,-0.153040,0.988098]]
2025-10-27T15:06:28.110Z,1761577588.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.82 m.
2025-10-27T15:06:28.113Z,1761577588.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.823242 m,
      nav range: 286.929138 m,
      bearing: 73.351787 deg,
      approach rate: -0.774396 m/s,
      LOS rate: -0.009550 deg/s,
      cmd heading: 77.435180 deg,
      new cmd heading: 77.424172 deg.

2025-10-27T15:06:28.114Z,1761577588.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351307 target range: 291.823242 and range: 293.20 m.
2025-10-27T15:06:28.199Z,1761577588.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.802335
2025-10-27T15:06:28.404Z,1761577588.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006695
2025-10-27T15:06:28.489Z,1761577588.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217142,-0.964038,-0.153229],[0.976007,0.217014,0.017769],[0.016123,-0.153411,0.988031]]
2025-10-27T15:06:28.552Z,1761577588.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.82 m.
2025-10-27T15:06:28.554Z,1761577588.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.823242 m,
      nav range: 286.588318 m,
      bearing: 73.344787 deg,
      approach rate: -0.771005 m/s,
      LOS rate: -0.015855 deg/s,
      cmd heading: 77.424169 deg,
      new cmd heading: 77.403143 deg.

2025-10-27T15:06:28.560Z,1761577588.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350940 target range: 291.823242 and range: 293.20 m.
2025-10-27T15:06:28.656Z,1761577588.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259250
2025-10-27T15:06:28.908Z,1761577588.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510852
2025-10-27T15:06:28.924Z,1761577588.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:28.926Z,1761577588.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.82 m.
2025-10-27T15:06:28.934Z,1761577588.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.823242 m,
      nav range: 286.264221 m,
      bearing: 73.338114 deg,
      approach rate: -0.865516 m/s,
      LOS rate: -0.017841 deg/s,
      cmd heading: 77.403146 deg,
      new cmd heading: 77.383104 deg.

2025-10-27T15:06:28.935Z,1761577588.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350590 target range: 291.823242 and range: 293.20 m.
2025-10-27T15:06:29.161Z,1761577589.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763776
2025-10-27T15:06:29.354Z,1761577589.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215580,-0.963993,-0.155699],[0.976357,0.215392,0.018281],[0.015914,-0.155959,0.987635]]
2025-10-27T15:06:29.390Z,1761577589.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.82 m.
2025-10-27T15:06:29.394Z,1761577589.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.823242 m,
      nav range: 285.901794 m,
      bearing: 73.331113 deg,
      approach rate: -0.781345 m/s,
      LOS rate: -0.015112 deg/s,
      cmd heading: 77.383106 deg,
      new cmd heading: 77.362077 deg.

2025-10-27T15:06:29.394Z,1761577589.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350223 target range: 291.823242 and range: 293.20 m.
2025-10-27T15:06:29.412Z,1761577589.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014780
2025-10-27T15:06:29.664Z,1761577589.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267064
2025-10-27T15:06:29.757Z,1761577589.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215588,-0.963579,-0.158230],[0.976362,0.215276,0.019320],[0.015447,-0.158655,0.987213]]
2025-10-27T15:06:29.783Z,1761577589.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.82 m.
2025-10-27T15:06:29.786Z,1761577589.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.823242 m,
      nav range: 285.595154 m,
      bearing: 73.325180 deg,
      approach rate: -0.780189 m/s,
      LOS rate: -0.015112 deg/s,
      cmd heading: 77.362076 deg,
      new cmd heading: 77.344258 deg.

2025-10-27T15:06:29.787Z,1761577589.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349912 target range: 291.823242 and range: 293.20 m.
2025-10-27T15:06:29.916Z,1761577589.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518828
2025-10-27T15:06:30.159Z,1761577590.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215454,-0.963327,-0.159939],[0.976393,0.215094,0.019768],[0.015359,-0.160423,0.986929]]
2025-10-27T15:06:30.168Z,1761577590.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770849
2025-10-27T15:06:30.179Z,1761577590.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.82 m.
2025-10-27T15:06:30.181Z,1761577590.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.823242 m,
      nav range: 285.286926 m,
      bearing: 73.319196 deg,
      approach rate: -0.779579 m/s,
      LOS rate: -0.015149 deg/s,
      cmd heading: 77.344256 deg,
      new cmd heading: 77.326287 deg.

2025-10-27T15:06:30.182Z,1761577590.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349598 target range: 291.823242 and range: 293.20 m.
2025-10-27T15:06:30.420Z,1761577590.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023025
2025-10-27T15:06:30.558Z,1761577590.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215212,-0.963295,-0.160456],[0.976445,0.214860,0.019746],[0.015454,-0.160926,0.986845]]
2025-10-27T15:06:30.595Z,1761577590.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.82 m.
2025-10-27T15:06:30.632Z,1761577590.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.823242 m,
      nav range: 284.975006 m,
      bearing: 73.313249 deg,
      approach rate: -0.749756 m/s,
      LOS rate: -0.014311 deg/s,
      cmd heading: 77.326286 deg,
      new cmd heading: 77.308424 deg.

2025-10-27T15:06:30.633Z,1761577590.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349287 target range: 291.823242 and range: 293.20 m.
2025-10-27T15:06:30.672Z,1761577590.672 [DAT](INFO): DAT read: Rx Time:15:06:29.2844

2025-10-27T15:06:30.673Z,1761577590.673 [DAT](INFO): Rx dataTimestamp_ set to:1761577590.672480
2025-10-27T15:06:30.673Z,1761577590.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276153
2025-10-27T15:06:30.924Z,1761577590.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526654
2025-10-27T15:06:30.989Z,1761577590.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215263,-0.963240,-0.160719],[0.976439,0.214854,0.020131],[0.015140,-0.161266,0.986795]]
2025-10-27T15:06:31.006Z,1761577591.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:31.008Z,1761577591.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.82 m.
2025-10-27T15:06:31.010Z,1761577591.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.823242 m,
      nav range: 284.665497 m,
      bearing: 73.307339 deg,
      approach rate: -0.748942 m/s,
      LOS rate: -0.014317 deg/s,
      cmd heading: 77.308425 deg,
      new cmd heading: 77.290675 deg.

2025-10-27T15:06:31.012Z,1761577591.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348977 target range: 291.823242 and range: 293.20 m.
2025-10-27T15:06:31.194Z,1761577591.194 [DAT](INFO): DAT read: 15:06:29.2844 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX=  97,-0.14, 3.112, 1.631,-2.786, 2.973, PHS= 0.240,-1.297, 0.480, RAW= 157.1,   7.0, CAL= 156.5,   7.0, ROT= 353.5,  -7.0

2025-10-27T15:06:31.196Z,1761577591.196 [DAT](INFO): got valid direction response:
 15:06:29.2844 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX=  97,-0.14, 3.112, 1.631,-2.786, 2.973, PHS= 0.240,-1.297, 0.480, RAW= 157.1,   7.0, CAL= 156.5,   7.0, ROT= 353.5,  -7.0

2025-10-27T15:06:31.197Z,1761577591.197 [DAT](INFO): DAT read: Bearing 224.8,  -6.9 (Local)

2025-10-27T15:06:31.197Z,1761577591.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.8,  -6.9 (Local)

2025-10-27T15:06:31.198Z,1761577591.198 [DAT](INFO): DAT read: Range 11 to 50 : 304.9 m  (Round-trip  406.6 ms) speed  0.5 m/s

2025-10-27T15:06:31.199Z,1761577591.199 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:31.200Z,1761577591.200 [DAT](INFO): direction in FSK: [0.986166,-0.112360,0.121869]
2025-10-27T15:06:31.201Z,1761577591.201 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:31.204Z,1761577591.204 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:31.204Z,1761577591.204 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:31.204Z,1761577591.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:31.428Z,1761577591.428 [DAT](INFO): DAT read: user:927>

2025-10-27T15:06:31.429Z,1761577591.429 [DAT](INFO): DAT read: Tx time:15:06:30.4737

2025-10-27T15:06:31.429Z,1761577591.429 [DAT](INFO): Ping request sent.
2025-10-27T15:06:31.429Z,1761577591.429 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:31.429Z,1761577591.429 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:31.430Z,1761577591.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-27T15:06:31.461Z,1761577591.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 304.899994 m,
      deltaT: 4.031326 s,
      deltaX: 11.699982 m,
      approachRate: 2.902266 m/s,
      rangeRepo size: 4

2025-10-27T15:06:31.496Z,1761577591.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 303.467712 m,
      bearing: 72.270264 deg,
      lat: 36.779213 deg,
      lon: -121.859434 deg,
      deltaT: 4.031326 s,
      deltaX: 11.644470 m,
      approachRate: 2.888496 m/s,
      posRepo size: 4

2025-10-27T15:06:31.496Z,1761577591.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.47 m.
2025-10-27T15:06:31.503Z,1761577591.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.467712 m,
      nav range: 292.104340 m,
      bearing: 72.195215 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014317 deg/s,
      cmd heading: 77.290673 deg,
      new cmd heading: 77.271223 deg.

2025-10-27T15:06:31.504Z,1761577591.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348637 target range: 303.467712 and range: 304.90 m.
2025-10-27T15:06:31.680Z,1761577591.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250766
2025-10-27T15:06:31.795Z,1761577591.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215211,-0.963573,-0.158780],[0.976468,0.214650,0.020882],[0.013961,-0.159538,0.987093]]
2025-10-27T15:06:31.820Z,1761577591.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.47 m.
2025-10-27T15:06:31.825Z,1761577591.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.467712 m,
      nav range: 291.840820 m,
      bearing: 72.190820 deg,
      approach rate: -0.735925 m/s,
      LOS rate: -0.012286 deg/s,
      cmd heading: 77.271221 deg,
      new cmd heading: 77.258023 deg.

2025-10-27T15:06:31.826Z,1761577591.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348407 target range: 303.467712 and range: 304.90 m.
2025-10-27T15:06:31.933Z,1761577591.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503562
2025-10-27T15:06:32.184Z,1761577592.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754757
2025-10-27T15:06:32.199Z,1761577592.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215187,-0.964149,-0.155276],[0.976481,0.214614,0.020646],[0.013419,-0.156067,0.987655]]
2025-10-27T15:06:32.218Z,1761577592.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.47 m.
2025-10-27T15:06:32.220Z,1761577592.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.467712 m,
      nav range: 291.544312 m,
      bearing: 72.185859 deg,
      approach rate: -0.743519 m/s,
      LOS rate: -0.012453 deg/s,
      cmd heading: 77.258025 deg,
      new cmd heading: 77.243127 deg.

2025-10-27T15:06:32.221Z,1761577592.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348147 target range: 303.467712 and range: 304.90 m.
2025-10-27T15:06:32.436Z,1761577592.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007204
2025-10-27T15:06:32.604Z,1761577592.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215572,-0.964696,-0.151293],[0.976405,0.214973,0.020504],[0.012744,-0.152143,0.988276]]
2025-10-27T15:06:32.663Z,1761577592.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.47 m.
2025-10-27T15:06:32.666Z,1761577592.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.467712 m,
      nav range: 291.241638 m,
      bearing: 72.183025 deg,
      approach rate: -0.711563 m/s,
      LOS rate: -0.006670 deg/s,
      cmd heading: 77.243128 deg,
      new cmd heading: 77.234617 deg.

2025-10-27T15:06:32.679Z,1761577592.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347998 target range: 303.467712 and range: 304.90 m.
2025-10-27T15:06:32.688Z,1761577592.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258805
2025-10-27T15:06:32.940Z,1761577592.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730
2025-10-27T15:06:33.007Z,1761577593.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215711,-0.964950,-0.149467],[0.976384,0.215033,0.020877],[0.011995,-0.150441,0.988546]]
2025-10-27T15:06:33.024Z,1761577593.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:33.026Z,1761577593.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.47 m.
2025-10-27T15:06:33.029Z,1761577593.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.467712 m,
      nav range: 290.963959 m,
      bearing: 72.180426 deg,
      approach rate: -0.724429 m/s,
      LOS rate: -0.006787 deg/s,
      cmd heading: 77.234618 deg,
      new cmd heading: 77.226814 deg.

2025-10-27T15:06:33.030Z,1761577593.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347862 target range: 303.467712 and range: 304.90 m.
2025-10-27T15:06:33.192Z,1761577593.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762715
2025-10-27T15:06:33.439Z,1761577593.439 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  92.46,  76.14,  82.26
2025-10-27T15:06:33.444Z,1761577593.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014846
2025-10-27T15:06:33.456Z,1761577593.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.47 m.
2025-10-27T15:06:33.459Z,1761577593.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.467712 m,
      nav range: 290.655060 m,
      bearing: 72.177528 deg,
      approach rate: -0.718555 m/s,
      LOS rate: -0.006747 deg/s,
      cmd heading: 77.226811 deg,
      new cmd heading: 77.218110 deg.

2025-10-27T15:06:33.460Z,1761577593.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347710 target range: 303.467712 and range: 304.90 m.
2025-10-27T15:06:33.696Z,1761577593.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267109
2025-10-27T15:06:33.825Z,1761577593.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217792,-0.964340,-0.150380],[0.975939,0.216835,0.022933],[0.010492,-0.151756,0.988362]]
2025-10-27T15:06:33.852Z,1761577593.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.47 m.
2025-10-27T15:06:33.854Z,1761577593.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.467712 m,
      nav range: 290.371735 m,
      bearing: 72.174986 deg,
      approach rate: -0.716394 m/s,
      LOS rate: -0.006434 deg/s,
      cmd heading: 77.218109 deg,
      new cmd heading: 77.210475 deg.

2025-10-27T15:06:33.855Z,1761577593.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347577 target range: 303.467712 and range: 304.90 m.
2025-10-27T15:06:33.948Z,1761577593.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519283
2025-10-27T15:06:34.200Z,1761577594.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770782
2025-10-27T15:06:34.218Z,1761577594.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219029,-0.963955,-0.151050],[0.975672,0.217882,0.024310],[0.009477,-0.152700,0.988227]]
2025-10-27T15:06:34.236Z,1761577594.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.47 m.
2025-10-27T15:06:34.239Z,1761577594.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.467712 m,
      nav range: 290.095062 m,
      bearing: 72.172569 deg,
      approach rate: -0.719850 m/s,
      LOS rate: -0.006296 deg/s,
      cmd heading: 77.210473 deg,
      new cmd heading: 77.203214 deg.

2025-10-27T15:06:34.240Z,1761577594.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347450 target range: 303.467712 and range: 304.90 m.
2025-10-27T15:06:34.453Z,1761577594.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023459
2025-10-27T15:06:34.621Z,1761577594.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220195,-0.963524,-0.152106],[0.975420,0.218837,0.025826],[0.008402,-0.154054,0.988027]]
2025-10-27T15:06:34.672Z,1761577594.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.47 m.
2025-10-27T15:06:34.676Z,1761577594.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.467712 m,
      nav range: 289.803284 m,
      bearing: 72.172852 deg,
      approach rate: -0.668654 m/s,
      LOS rate: 0.000649 deg/s,
      cmd heading: 77.203213 deg,
      new cmd heading: 77.204062 deg.

2025-10-27T15:06:34.677Z,1761577594.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347465 target range: 303.467712 and range: 304.90 m.
2025-10-27T15:06:34.704Z,1761577594.704 [DAT](INFO): DAT read: Rx Time:15:06:33.2801

2025-10-27T15:06:34.704Z,1761577594.704 [DAT](INFO): Rx dataTimestamp_ set to:1761577594.704194
2025-10-27T15:06:34.705Z,1761577594.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276119
2025-10-27T15:06:34.956Z,1761577594.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526790
2025-10-27T15:06:35.026Z,1761577595.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221454,-0.963123,-0.152812],[0.975142,0.219903,0.027195],[0.007412,-0.155036,0.987881]]
2025-10-27T15:06:35.042Z,1761577595.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:35.044Z,1761577595.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.47 m.
2025-10-27T15:06:35.047Z,1761577595.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.467712 m,
      nav range: 289.554779 m,
      bearing: 72.173155 deg,
      approach rate: -0.668284 m/s,
      LOS rate: 0.000817 deg/s,
      cmd heading: 77.204060 deg,
      new cmd heading: 77.204972 deg.

2025-10-27T15:06:35.048Z,1761577595.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347481 target range: 303.467712 and range: 304.90 m.
2025-10-27T15:06:35.213Z,1761577595.213 [DAT](INFO): DAT read: 15:06:33.2801 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 404, 0.22,-1.167,-2.595,-0.795,-1.252, PHS= 0.187,-1.298, 0.413, RAW= 157.0,   8.7, CAL= 156.6,   9.2, ROT= 353.4,  -9.2

2025-10-27T15:06:35.214Z,1761577595.214 [DAT](INFO): got valid direction response:
 15:06:33.2801 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 404, 0.22,-1.167,-2.595,-0.795,-1.252, PHS= 0.187,-1.298, 0.413, RAW= 157.0,   8.7, CAL= 156.6,   9.2, ROT= 353.4,  -9.2

2025-10-27T15:06:35.216Z,1761577595.216 [DAT](INFO): DAT read: Bearing 227.3,  -7.4 (Local)

2025-10-27T15:06:35.216Z,1761577595.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.3,  -7.4 (Local)

2025-10-27T15:06:35.217Z,1761577595.217 [DAT](INFO): DAT read: Range 11 to 50 : 301.7 m  (Round-trip  402.3 ms) speed  0.8 m/s

2025-10-27T15:06:35.218Z,1761577595.218 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:35.219Z,1761577595.219 [DAT](INFO): direction in FSK: [0.980594,-0.113459,0.159881]
2025-10-27T15:06:35.219Z,1761577595.219 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:35.231Z,1761577595.231 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:35.231Z,1761577595.231 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:35.231Z,1761577595.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:35.460Z,1761577595.460 [DAT](INFO): DAT read: user:928>

2025-10-27T15:06:35.461Z,1761577595.461 [DAT](INFO): DAT read: Tx time:15:06:34.5237

2025-10-27T15:06:35.461Z,1761577595.461 [DAT](INFO): Ping request sent.
2025-10-27T15:06:35.461Z,1761577595.461 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:35.461Z,1761577595.461 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:35.462Z,1761577595.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-27T15:06:35.548Z,1761577595.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 301.700012 m,
      deltaT: 4.030060 s,
      deltaX: -3.199982 m,
      approachRate: -0.794028 m/s,
      rangeRepo size: 4

2025-10-27T15:06:35.550Z,1761577595.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 300.283020 m,
      bearing: 72.110884 deg,
      lat: 36.779229 deg,
      lon: -121.859434 deg,
      deltaT: 4.030060 s,
      deltaX: -3.184692 m,
      approachRate: -0.790235 m/s,
      posRepo size: 4

2025-10-27T15:06:35.555Z,1761577595.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.28 m.
2025-10-27T15:06:35.558Z,1761577595.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.283020 m,
      nav range: 289.756439 m,
      bearing: 71.850547 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000817 deg/s,
      cmd heading: 77.204975 deg,
      new cmd heading: 77.206210 deg.

2025-10-27T15:06:35.567Z,1761577595.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347503 target range: 300.283020 and range: 301.70 m.
2025-10-27T15:06:35.712Z,1761577595.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250851
2025-10-27T15:06:35.949Z,1761577595.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.28 m.
2025-10-27T15:06:35.952Z,1761577595.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.283020 m,
      nav range: 289.473938 m,
      bearing: 71.850078 deg,
      approach rate: -0.703156 m/s,
      LOS rate: -0.001169 deg/s,
      cmd heading: 77.206211 deg,
      new cmd heading: 77.204802 deg.

2025-10-27T15:06:35.953Z,1761577595.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347478 target range: 300.283020 and range: 301.70 m.
2025-10-27T15:06:35.964Z,1761577595.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502997
2025-10-27T15:06:36.217Z,1761577596.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755619
2025-10-27T15:06:36.389Z,1761577596.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.28 m.
2025-10-27T15:06:36.412Z,1761577596.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.283020 m,
      nav range: 289.196014 m,
      bearing: 71.849615 deg,
      approach rate: -0.634055 m/s,
      LOS rate: -0.001056 deg/s,
      cmd heading: 77.204804 deg,
      new cmd heading: 77.203415 deg.

2025-10-27T15:06:36.419Z,1761577596.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347454 target range: 300.283020 and range: 301.70 m.
2025-10-27T15:06:36.469Z,1761577596.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007826
2025-10-27T15:06:36.721Z,1761577596.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259458
2025-10-27T15:06:36.730Z,1761577596.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226336,-0.961618,-0.155123],[0.974040,0.224123,0.031848],[0.004141,-0.158305,0.987382]]
2025-10-27T15:06:36.824Z,1761577596.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.28 m.
2025-10-27T15:06:36.834Z,1761577596.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.283020 m,
      nav range: 288.888489 m,
      bearing: 71.849183 deg,
      approach rate: -0.705161 m/s,
      LOS rate: -0.000993 deg/s,
      cmd heading: 77.203418 deg,
      new cmd heading: 77.202119 deg.

2025-10-27T15:06:36.840Z,1761577596.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347431 target range: 300.283020 and range: 301.70 m.
2025-10-27T15:06:36.972Z,1761577596.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510822
2025-10-27T15:06:37.164Z,1761577597.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227635,-0.961239,-0.155572],[0.973740,0.225293,0.032767],[0.003552,-0.158946,0.987281]]
2025-10-27T15:06:37.184Z,1761577597.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:37.186Z,1761577597.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.28 m.
2025-10-27T15:06:37.217Z,1761577597.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.283020 m,
      nav range: 288.614014 m,
      bearing: 71.848867 deg,
      approach rate: -0.756809 m/s,
      LOS rate: -0.000872 deg/s,
      cmd heading: 77.202120 deg,
      new cmd heading: 77.201172 deg.

2025-10-27T15:06:37.218Z,1761577597.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347415 target range: 300.283020 and range: 301.70 m.
2025-10-27T15:06:37.224Z,1761577597.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762930
2025-10-27T15:06:37.476Z,1761577597.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014897
2025-10-27T15:06:37.566Z,1761577597.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228997,-0.960872,-0.155839],[0.973423,0.226523,0.033698],[0.002922,-0.159414,0.987207]]
2025-10-27T15:06:37.652Z,1761577597.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.28 m.
2025-10-27T15:06:37.654Z,1761577597.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.283020 m,
      nav range: 288.283112 m,
      bearing: 71.847427 deg,
      approach rate: -0.711298 m/s,
      LOS rate: -0.003098 deg/s,
      cmd heading: 77.201171 deg,
      new cmd heading: 77.196846 deg.

2025-10-27T15:06:37.660Z,1761577597.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347339 target range: 300.283020 and range: 301.70 m.
2025-10-27T15:06:37.729Z,1761577597.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267288
2025-10-27T15:06:37.980Z,1761577597.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519203
2025-10-27T15:06:38.027Z,1761577598.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230020,-0.960603,-0.155991],[0.973183,0.227441,0.034428],[0.002407,-0.159727,0.987158]]
2025-10-27T15:06:38.053Z,1761577598.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.28 m.
2025-10-27T15:06:38.060Z,1761577598.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.283020 m,
      nav range: 287.993073 m,
      bearing: 71.846222 deg,
      approach rate: -0.723381 m/s,
      LOS rate: -0.003007 deg/s,
      cmd heading: 77.196847 deg,
      new cmd heading: 77.193230 deg.

2025-10-27T15:06:38.064Z,1761577598.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347276 target range: 300.283020 and range: 301.70 m.
2025-10-27T15:06:38.232Z,1761577598.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771021
2025-10-27T15:06:38.461Z,1761577598.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230817,-0.960434,-0.155855],[0.972995,0.228159,0.034979],[0.001964,-0.159720,0.987160]]
2025-10-27T15:06:38.484Z,1761577598.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022955
2025-10-27T15:06:38.509Z,1761577598.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.28 m.
2025-10-27T15:06:38.512Z,1761577598.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.283020 m,
      nav range: 287.657440 m,
      bearing: 71.843039 deg,
      approach rate: -0.734805 m/s,
      LOS rate: -0.006978 deg/s,
      cmd heading: 77.193227 deg,
      new cmd heading: 77.183665 deg.

2025-10-27T15:06:38.513Z,1761577598.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347109 target range: 300.283020 and range: 301.70 m.
2025-10-27T15:06:38.736Z,1761577598.736 [DAT](INFO): DAT read: Rx Time:15:06:37.3283

2025-10-27T15:06:38.737Z,1761577598.737 [DAT](INFO): Rx dataTimestamp_ set to:1761577598.736650
2025-10-27T15:06:38.738Z,1761577598.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276634
2025-10-27T15:06:38.840Z,1761577598.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231109,-0.960484,-0.155108],[0.972926,0.228437,0.035084],[0.001735,-0.159017,0.987274]]
2025-10-27T15:06:38.858Z,1761577598.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.28 m.
2025-10-27T15:06:38.860Z,1761577598.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.283020 m,
      nav range: 287.405609 m,
      bearing: 71.840662 deg,
      approach rate: -0.723349 m/s,
      LOS rate: -0.006834 deg/s,
      cmd heading: 77.183665 deg,
      new cmd heading: 77.176528 deg.

2025-10-27T15:06:38.861Z,1761577598.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346985 target range: 300.283020 and range: 301.70 m.
2025-10-27T15:06:38.989Z,1761577598.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527515
2025-10-27T15:06:39.246Z,1761577599.246 [DAT](INFO): DAT read: 15:06:37.3283 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 417, 0.12,-2.847, 1.999,-2.519,-2.957, PHS= 0.212,-1.282, 0.394, RAW= 155.7,   8.5, CAL= 155.3,   9.0, ROT= 354.7,  -9.0

2025-10-27T15:06:39.248Z,1761577599.248 [DAT](INFO): got valid direction response:
 15:06:37.3283 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 417, 0.12,-2.847, 1.999,-2.519,-2.957, PHS= 0.212,-1.282, 0.394, RAW= 155.7,   8.5, CAL= 155.3,   9.0, ROT= 354.7,  -9.0

2025-10-27T15:06:39.249Z,1761577599.249 [DAT](INFO): DAT read: Bearing 227.2,  -6.2 (Local)

2025-10-27T15:06:39.249Z,1761577599.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.2,  -6.2 (Local)

2025-10-27T15:06:39.250Z,1761577599.250 [DAT](INFO): DAT read: Range 11 to 50 : 300.3 m  (Round-trip  400.4 ms) speed  0.6 m/s

2025-10-27T15:06:39.252Z,1761577599.252 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:39.253Z,1761577599.253 [DAT](INFO): direction in FSK: [0.983466,-0.091233,0.156434]
2025-10-27T15:06:39.253Z,1761577599.253 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:39.257Z,1761577599.257 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:39.257Z,1761577599.257 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:39.257Z,1761577599.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:39.317Z,1761577599.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230744,-0.960838,-0.153450],[0.973013,0.228113,0.034783],[0.001583,-0.157335,0.987544]]
2025-10-27T15:06:39.380Z,1761577599.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.299988 m,
      deltaT: 4.033255 s,
      deltaX: -1.400024 m,
      approachRate: -0.347120 m/s,
      rangeRepo size: 4

2025-10-27T15:06:39.382Z,1761577599.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 298.890900 m,
      bearing: 72.848611 deg,
      lat: 36.779229 deg,
      lon: -121.859371 deg,
      deltaT: 4.033255 s,
      deltaX: -1.392120 m,
      approachRate: -0.345161 m/s,
      posRepo size: 4

2025-10-27T15:06:39.382Z,1761577599.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.89 m.
2025-10-27T15:06:39.389Z,1761577599.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.890900 m,
      nav range: 292.379395 m,
      bearing: 72.179702 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006834 deg/s,
      cmd heading: 77.176527 deg,
      new cmd heading: 77.165926 deg.

2025-10-27T15:06:39.390Z,1761577599.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346799 target range: 298.890900 and range: 300.30 m.
2025-10-27T15:06:39.492Z,1761577599.492 [DAT](INFO): DAT read: user:929>

2025-10-27T15:06:39.493Z,1761577599.493 [DAT](INFO): DAT read: Tx time:15:06:38.5237

2025-10-27T15:06:39.493Z,1761577599.493 [DAT](INFO): Ping request sent.
2025-10-27T15:06:39.493Z,1761577599.493 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:39.493Z,1761577599.493 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:39.494Z,1761577599.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-27T15:06:39.746Z,1761577599.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252822
2025-10-27T15:06:39.785Z,1761577599.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230411,-0.961187,-0.151760],[0.973093,0.227784,0.034713],[0.001203,-0.155675,0.987808]]
2025-10-27T15:06:39.843Z,1761577599.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:39.845Z,1761577599.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.89 m.
2025-10-27T15:06:39.864Z,1761577599.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.890900 m,
      nav range: 292.005402 m,
      bearing: 72.175640 deg,
      approach rate: -0.795293 m/s,
      LOS rate: -0.008647 deg/s,
      cmd heading: 77.165927 deg,
      new cmd heading: 77.153728 deg.

2025-10-27T15:06:39.865Z,1761577599.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346587 target range: 298.890900 and range: 300.30 m.
2025-10-27T15:06:39.996Z,1761577599.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502737
2025-10-27T15:06:40.181Z,1761577600.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229652,-0.961527,-0.150753],[0.973272,0.227115,0.034072],[0.001477,-0.154548,0.987984]]
2025-10-27T15:06:40.210Z,1761577600.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.89 m.
2025-10-27T15:06:40.213Z,1761577600.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.890900 m,
      nav range: 291.726349 m,
      bearing: 72.172562 deg,
      approach rate: -0.764149 m/s,
      LOS rate: -0.008437 deg/s,
      cmd heading: 77.153728 deg,
      new cmd heading: 77.144485 deg.

2025-10-27T15:06:40.214Z,1761577600.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346425 target range: 298.890900 and range: 300.30 m.
2025-10-27T15:06:40.248Z,1761577600.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755245
2025-10-27T15:06:40.500Z,1761577600.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006742
2025-10-27T15:06:40.586Z,1761577600.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228285,-0.962127,-0.148988],[0.973593,0.225886,0.033060],[0.001847,-0.152600,0.988286]]
2025-10-27T15:06:40.638Z,1761577600.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.89 m.
2025-10-27T15:06:40.645Z,1761577600.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.890900 m,
      nav range: 291.402100 m,
      bearing: 72.166923 deg,
      approach rate: -0.757194 m/s,
      LOS rate: -0.013183 deg/s,
      cmd heading: 77.144487 deg,
      new cmd heading: 77.127552 deg.

2025-10-27T15:06:40.646Z,1761577600.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346130 target range: 298.890900 and range: 300.30 m.
2025-10-27T15:06:40.753Z,1761577600.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259314
2025-10-27T15:06:40.990Z,1761577600.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226758,-0.962883,-0.146412],[0.973948,0.224547,0.031679],[0.002373,-0.149782,0.988716]]
2025-10-27T15:06:41.004Z,1761577601.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511125
2025-10-27T15:06:41.033Z,1761577601.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.89 m.
2025-10-27T15:06:41.037Z,1761577601.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.890900 m,
      nav range: 291.098206 m,
      bearing: 72.161534 deg,
      approach rate: -0.769085 m/s,
      LOS rate: -0.013653 deg/s,
      cmd heading: 77.127555 deg,
      new cmd heading: 77.111371 deg.

2025-10-27T15:06:41.038Z,1761577601.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345847 target range: 298.890900 and range: 300.30 m.
2025-10-27T15:06:41.256Z,1761577601.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763070
2025-10-27T15:06:41.394Z,1761577601.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225574,-0.963288,-0.145579],[0.974223,0.223435,0.031097],[0.002572,-0.148841,0.988858]]
2025-10-27T15:06:41.412Z,1761577601.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.89 m.
2025-10-27T15:06:41.415Z,1761577601.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.890900 m,
      nav range: 290.780457 m,
      bearing: 72.155811 deg,
      approach rate: -0.838815 m/s,
      LOS rate: -0.015127 deg/s,
      cmd heading: 77.111374 deg,
      new cmd heading: 77.094184 deg.

2025-10-27T15:06:41.416Z,1761577601.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345547 target range: 298.890900 and range: 300.30 m.
2025-10-27T15:06:41.510Z,1761577601.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017251
2025-10-27T15:06:41.760Z,1761577601.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266790
2025-10-27T15:06:41.819Z,1761577601.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224669,-0.963469,-0.145780],[0.974430,0.222600,0.030571],[0.002997,-0.148921,0.988845]]
2025-10-27T15:06:41.866Z,1761577601.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:41.868Z,1761577601.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.89 m.
2025-10-27T15:06:41.871Z,1761577601.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.890900 m,
      nav range: 290.412354 m,
      bearing: 72.147943 deg,
      approach rate: -0.807483 m/s,
      LOS rate: -0.017280 deg/s,
      cmd heading: 77.094182 deg,
      new cmd heading: 77.070551 deg.

2025-10-27T15:06:41.872Z,1761577601.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345135 target range: 298.890900 and range: 300.30 m.
2025-10-27T15:06:42.012Z,1761577602.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518802
2025-10-27T15:06:42.202Z,1761577602.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223504,-0.963732,-0.145831],[0.974697,0.221528,0.029865],[0.003524,-0.148815,0.988859]]
2025-10-27T15:06:42.239Z,1761577602.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.89 m.
2025-10-27T15:06:42.242Z,1761577602.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.890900 m,
      nav range: 290.124603 m,
      bearing: 72.141711 deg,
      approach rate: -0.774901 m/s,
      LOS rate: -0.016801 deg/s,
      cmd heading: 77.070550 deg,
      new cmd heading: 77.051833 deg.

2025-10-27T15:06:42.244Z,1761577602.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344808 target range: 298.890900 and range: 300.30 m.
2025-10-27T15:06:42.264Z,1761577602.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770854
2025-10-27T15:06:42.517Z,1761577602.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023398
2025-10-27T15:06:42.605Z,1761577602.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222002,-0.963996,-0.146381],[0.975038,0.220119,0.029143],[0.004127,-0.149197,0.988799]]
2025-10-27T15:06:42.654Z,1761577602.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.89 m.
2025-10-27T15:06:42.657Z,1761577602.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.890900 m,
      nav range: 289.767822 m,
      bearing: 72.132701 deg,
      approach rate: -0.861682 m/s,
      LOS rate: -0.021785 deg/s,
      cmd heading: 77.051835 deg,
      new cmd heading: 77.024775 deg.

2025-10-27T15:06:42.658Z,1761577602.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344336 target range: 298.890900 and range: 300.30 m.
2025-10-27T15:06:42.768Z,1761577602.768 [DAT](INFO): DAT read: Rx Time:15:06:41.3232

2025-10-27T15:06:42.769Z,1761577602.769 [DAT](INFO): Rx dataTimestamp_ set to:1761577602.768259
2025-10-27T15:06:42.769Z,1761577602.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275973
2025-10-27T15:06:43.012Z,1761577603.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220538,-0.964630,-0.144404],[0.975369,0.218765,0.028239],[0.004351,-0.147075,0.989116]]
2025-10-27T15:06:43.020Z,1761577603.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526857
2025-10-27T15:06:43.031Z,1761577603.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.89 m.
2025-10-27T15:06:43.034Z,1761577603.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.890900 m,
      nav range: 289.454254 m,
      bearing: 72.124668 deg,
      approach rate: -0.830255 m/s,
      LOS rate: -0.021295 deg/s,
      cmd heading: 77.024774 deg,
      new cmd heading: 77.000646 deg.

2025-10-27T15:06:43.035Z,1761577603.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343915 target range: 298.890900 and range: 300.30 m.
2025-10-27T15:06:43.277Z,1761577603.277 [DAT](INFO): DAT read: 15:06:41.3232 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 397, 0.27,-1.829, 2.960,-1.586,-2.304, PHS= 0.577,-0.974, 0.673, RAW= 153.0,  -3.5, CAL= 152.5,  -4.7, ROT= 357.5,   4.7

2025-10-27T15:06:43.279Z,1761577603.279 [DAT](INFO): got valid direction response:
 15:06:41.3232 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 397, 0.27,-1.829, 2.960,-1.586,-2.304, PHS= 0.577,-0.974, 0.673, RAW= 153.0,  -3.5, CAL= 152.5,  -4.7, ROT= 357.5,   4.7

2025-10-27T15:06:43.280Z,1761577603.280 [DAT](INFO): DAT read: Bearing 214.4,  -1.2 (Local)

2025-10-27T15:06:43.280Z,1761577603.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.4,  -1.2 (Local)

2025-10-27T15:06:43.281Z,1761577603.281 [DAT](INFO): DAT read: Range 11 to 50 : 296.5 m  (Round-trip  395.4 ms) speed  0.4 m/s

2025-10-27T15:06:43.282Z,1761577603.282 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:43.298Z,1761577603.298 [DAT](INFO): direction in FSK: [0.995689,-0.043473,-0.081939]
2025-10-27T15:06:43.299Z,1761577603.299 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:43.305Z,1761577603.305 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:43.305Z,1761577603.305 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:43.306Z,1761577603.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:43.414Z,1761577603.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219291,-0.964945,-0.144195],[0.975648,0.217601,0.027589],[0.004755,-0.146733,0.989165]]
2025-10-27T15:06:43.466Z,1761577603.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 296.500000 m,
      deltaT: 4.030696 s,
      deltaX: -3.799988 m,
      approachRate: -0.942762 m/s,
      rangeRepo size: 4

2025-10-27T15:06:43.481Z,1761577603.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 295.109314 m,
      bearing: 74.170363 deg,
      lat: 36.779213 deg,
      lon: -121.859349 deg,
      deltaT: 4.030696 s,
      deltaX: -3.781586 m,
      approachRate: -0.938197 m/s,
      posRepo size: 4

2025-10-27T15:06:43.488Z,1761577603.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.11 m.
2025-10-27T15:06:43.510Z,1761577603.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.109314 m,
      nav range: 290.413391 m,
      bearing: 72.553254 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021295 deg/s,
      cmd heading: 77.000643 deg,
      new cmd heading: 76.972903 deg.

2025-10-27T15:06:43.526Z,1761577603.526 [DAT](INFO): DAT read: user:930>

2025-10-27T15:06:43.529Z,1761577603.529 [DAT](INFO): DAT read: Tx time:15:06:42.5737

2025-10-27T15:06:43.530Z,1761577603.530 [DAT](INFO): Ping request sent.
2025-10-27T15:06:43.531Z,1761577603.531 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:43.532Z,1761577603.532 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:43.534Z,1761577603.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003209
2025-10-27T15:06:43.537Z,1761577603.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343431 target range: 295.109314 and range: 296.50 m.
2025-10-27T15:06:43.776Z,1761577603.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245612
2025-10-27T15:06:43.878Z,1761577603.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218133,-0.965193,-0.144292],[0.975907,0.216479,0.027265],[0.004920,-0.146763,0.989159]]
2025-10-27T15:06:43.913Z,1761577603.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:43.915Z,1761577603.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.11 m.
2025-10-27T15:06:43.918Z,1761577603.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.109314 m,
      nav range: 290.027924 m,
      bearing: 72.544236 deg,
      approach rate: -0.857481 m/s,
      LOS rate: -0.020086 deg/s,
      cmd heading: 76.972906 deg,
      new cmd heading: 76.945817 deg.

2025-10-27T15:06:43.935Z,1761577603.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342958 target range: 295.109314 and range: 296.50 m.
2025-10-27T15:06:44.029Z,1761577604.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498668
2025-10-27T15:06:44.278Z,1761577604.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217100,-0.965450,-0.144133],[0.976140,0.215357,0.027774],[0.004226,-0.146724,0.989168]]
2025-10-27T15:06:44.280Z,1761577604.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749711
2025-10-27T15:06:44.326Z,1761577604.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.11 m.
2025-10-27T15:06:44.333Z,1761577604.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.109314 m,
      nav range: 289.712555 m,
      bearing: 72.536774 deg,
      approach rate: -0.767485 m/s,
      LOS rate: -0.018181 deg/s,
      cmd heading: 76.945817 deg,
      new cmd heading: 76.923404 deg.

2025-10-27T15:06:44.334Z,1761577604.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342567 target range: 295.109314 and range: 296.50 m.
2025-10-27T15:06:44.535Z,1761577604.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003770
2025-10-27T15:06:44.682Z,1761577604.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215601,-0.965615,-0.145275],[0.976475,0.213729,0.028563],[0.003468,-0.148015,0.988979]]
2025-10-27T15:06:44.754Z,1761577604.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.11 m.
2025-10-27T15:06:44.757Z,1761577604.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.109314 m,
      nav range: 289.344666 m,
      bearing: 72.528441 deg,
      approach rate: -0.859117 m/s,
      LOS rate: -0.019484 deg/s,
      cmd heading: 76.923407 deg,
      new cmd heading: 76.898377 deg.

2025-10-27T15:06:44.758Z,1761577604.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342130 target range: 295.109314 and range: 296.50 m.
2025-10-27T15:06:44.784Z,1761577604.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253647
2025-10-27T15:06:45.036Z,1761577605.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505621
2025-10-27T15:06:45.102Z,1761577605.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214894,-0.965720,-0.145624],[0.976633,0.212953,0.028977],[0.003027,-0.148448,0.988916]]
2025-10-27T15:06:45.121Z,1761577605.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.11 m.
2025-10-27T15:06:45.123Z,1761577605.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.109314 m,
      nav range: 289.042450 m,
      bearing: 72.521536 deg,
      approach rate: -0.824714 m/s,
      LOS rate: -0.018862 deg/s,
      cmd heading: 76.898375 deg,
      new cmd heading: 76.877638 deg.

2025-10-27T15:06:45.124Z,1761577605.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341768 target range: 295.109314 and range: 296.50 m.
2025-10-27T15:06:45.289Z,1761577605.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758470
2025-10-27T15:06:45.530Z,1761577605.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214383,-0.965906,-0.145137],[0.976746,0.212376,0.029367],[0.002458,-0.148058,0.988976]]
2025-10-27T15:06:45.543Z,1761577605.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011940
2025-10-27T15:06:45.597Z,1761577605.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.11 m.
2025-10-27T15:06:45.608Z,1761577605.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.109314 m,
      nav range: 288.661377 m,
      bearing: 72.512767 deg,
      approach rate: -0.800005 m/s,
      LOS rate: -0.018433 deg/s,
      cmd heading: 76.877638 deg,
      new cmd heading: 76.851298 deg.

2025-10-27T15:06:45.609Z,1761577605.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341308 target range: 295.109314 and range: 296.50 m.
2025-10-27T15:06:45.794Z,1761577605.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263279
2025-10-27T15:06:46.000Z,1761577606.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:46.002Z,1761577606.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.11 m.
2025-10-27T15:06:46.005Z,1761577606.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.109314 m,
      nav range: 288.350159 m,
      bearing: 72.507183 deg,
      approach rate: -0.767869 m/s,
      LOS rate: -0.013793 deg/s,
      cmd heading: 76.851301 deg,
      new cmd heading: 76.834530 deg.

2025-10-27T15:06:46.006Z,1761577606.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341016 target range: 295.109314 and range: 296.50 m.
2025-10-27T15:06:46.045Z,1761577606.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514393
2025-10-27T15:06:46.297Z,1761577606.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765914
2025-10-27T15:06:46.334Z,1761577606.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213341,-0.966093,-0.145432],[0.976977,0.211203,0.030170],[0.001569,-0.148520,0.988908]]
2025-10-27T15:06:46.361Z,1761577606.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.11 m.
2025-10-27T15:06:46.364Z,1761577606.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.109314 m,
      nav range: 288.061951 m,
      bearing: 72.501939 deg,
      approach rate: -0.803804 m/s,
      LOS rate: -0.014639 deg/s,
      cmd heading: 76.834533 deg,
      new cmd heading: 76.818786 deg.

2025-10-27T15:06:46.365Z,1761577606.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340741 target range: 295.109314 and range: 296.50 m.
2025-10-27T15:06:46.553Z,1761577606.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021661
2025-10-27T15:06:46.753Z,1761577606.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214039,-0.965495,-0.148350],[0.976825,0.211703,0.031550],[0.000944,-0.151665,0.988432]]
2025-10-27T15:06:46.802Z,1761577606.802 [DAT](INFO): DAT read: Rx Time:15:06:45.3696

2025-10-27T15:06:46.802Z,1761577606.802 [DAT](INFO): Rx dataTimestamp_ set to:1761577606.801742
2025-10-27T15:06:46.804Z,1761577606.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273529
2025-10-27T15:06:46.824Z,1761577606.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.11 m.
2025-10-27T15:06:46.831Z,1761577606.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.109314 m,
      nav range: 287.721863 m,
      bearing: 72.496836 deg,
      approach rate: -0.733413 m/s,
      LOS rate: -0.011018 deg/s,
      cmd heading: 76.818789 deg,
      new cmd heading: 76.803462 deg.

2025-10-27T15:06:46.832Z,1761577606.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340473 target range: 295.109314 and range: 296.50 m.
2025-10-27T15:06:47.053Z,1761577607.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522840
2025-10-27T15:06:47.141Z,1761577607.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215333,-0.964850,-0.150654],[0.976541,0.212839,0.032680],[0.000533,-0.154157,0.988046]]
2025-10-27T15:06:47.174Z,1761577607.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.11 m.
2025-10-27T15:06:47.177Z,1761577607.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.109314 m,
      nav range: 287.424774 m,
      bearing: 72.492452 deg,
      approach rate: -0.850360 m/s,
      LOS rate: -0.012563 deg/s,
      cmd heading: 76.803462 deg,
      new cmd heading: 76.790295 deg.

2025-10-27T15:06:47.178Z,1761577607.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340243 target range: 295.109314 and range: 296.50 m.
2025-10-27T15:06:47.313Z,1761577607.313 [DAT](INFO): DAT read: 15:06:45.3696 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 409,-0.16, 2.848, 1.363,-3.046, 2.754, PHS= 0.196,-1.346, 0.439, RAW= 157.2,   8.5, CAL= 156.9,   9.0, ROT= 353.1,  -9.0

2025-10-27T15:06:47.315Z,1761577607.315 [DAT](INFO): got valid direction response:
 15:06:45.3696 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 409,-0.16, 2.848, 1.363,-3.046, 2.754, PHS= 0.196,-1.346, 0.439, RAW= 157.2,   8.5, CAL= 156.9,   9.0, ROT= 353.1,  -9.0

2025-10-27T15:06:47.317Z,1761577607.317 [DAT](INFO): DAT read: Bearing 227.4,  -8.0 (Local)

2025-10-27T15:06:47.317Z,1761577607.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.4,  -8.0 (Local)

2025-10-27T15:06:47.319Z,1761577607.319 [DAT](INFO): DAT read: Range 11 to 50 : 293.7 m  (Round-trip  391.7 ms) speed  0.6 m/s

2025-10-27T15:06:47.327Z,1761577607.327 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:47.328Z,1761577607.328 [DAT](INFO): direction in FSK: [0.980535,-0.118657,0.156434]
2025-10-27T15:06:47.329Z,1761577607.329 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:47.340Z,1761577607.340 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:47.340Z,1761577607.340 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:47.341Z,1761577607.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:47.558Z,1761577607.558 [DAT](INFO): DAT read: user:931>

2025-10-27T15:06:47.561Z,1761577607.561 [DAT](INFO): DAT read: Tx time:15:06:46.6237

2025-10-27T15:06:47.562Z,1761577607.562 [DAT](INFO): Ping request sent.
2025-10-27T15:06:47.562Z,1761577607.562 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:47.563Z,1761577607.563 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:47.565Z,1761577607.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002923
2025-10-27T15:06:47.624Z,1761577607.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216734,-0.964273,-0.152328],[0.976231,0.214106,0.033649],[0.000167,-0.156000,0.987757]]
2025-10-27T15:06:47.677Z,1761577607.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.700012 m,
      deltaT: 4.032201 s,
      deltaX: -2.799988 m,
      approachRate: -0.694407 m/s,
      rangeRepo size: 4

2025-10-27T15:06:47.679Z,1761577607.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 292.322845 m,
      bearing: 72.076012 deg,
      lat: 36.779231 deg,
      lon: -121.859348 deg,
      deltaT: 4.032201 s,
      deltaX: -2.786469 m,
      approachRate: -0.691054 m/s,
      posRepo size: 4

2025-10-27T15:06:47.680Z,1761577607.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.32 m.
2025-10-27T15:06:47.683Z,1761577607.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.322845 m,
      nav range: 287.833618 m,
      bearing: 72.118282 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012563 deg/s,
      cmd heading: 76.790294 deg,
      new cmd heading: 76.771355 deg.

2025-10-27T15:06:47.684Z,1761577607.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339913 target range: 292.322845 and range: 293.70 m.
2025-10-27T15:06:47.772Z,1761577607.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:06:47.809Z,1761577607.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247171
2025-10-27T15:06:48.027Z,1761577608.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218182,-0.963605,-0.154473],[0.975908,0.215414,0.034646],[-0.000109,-0.158311,0.987389]]
2025-10-27T15:06:48.060Z,1761577608.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498115
2025-10-27T15:06:48.063Z,1761577608.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:48.065Z,1761577608.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.32 m.
2025-10-27T15:06:48.079Z,1761577608.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.322845 m,
      nav range: 287.564758 m,
      bearing: 72.115884 deg,
      approach rate: -0.690874 m/s,
      LOS rate: -0.006169 deg/s,
      cmd heading: 76.771354 deg,
      new cmd heading: 76.764151 deg.

2025-10-27T15:06:48.080Z,1761577608.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339787 target range: 292.322845 and range: 293.70 m.
2025-10-27T15:06:48.315Z,1761577608.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752841
2025-10-27T15:06:48.436Z,1761577608.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219112,-0.963319,-0.154940],[0.975699,0.216210,0.035550],[-0.000747,-0.158965,0.987284]]
2025-10-27T15:06:48.459Z,1761577608.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.32 m.
2025-10-27T15:06:48.462Z,1761577608.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.322845 m,
      nav range: 287.266785 m,
      bearing: 72.113278 deg,
      approach rate: -0.756776 m/s,
      LOS rate: -0.006626 deg/s,
      cmd heading: 76.764155 deg,
      new cmd heading: 76.756328 deg.

2025-10-27T15:06:48.463Z,1761577608.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339651 target range: 292.322845 and range: 293.70 m.
2025-10-27T15:06:48.569Z,1761577608.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006201
2025-10-27T15:06:48.775Z,1761577608.775 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:06:48.816Z,1761577608.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254067
2025-10-27T15:06:48.834Z,1761577608.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220678,-0.962615,-0.157075],[0.975346,0.217599,0.036760],[-0.001206,-0.161315,0.986902]]
2025-10-27T15:06:48.884Z,1761577608.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.32 m.
2025-10-27T15:06:48.887Z,1761577608.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.322845 m,
      nav range: 286.967987 m,
      bearing: 72.111482 deg,
      approach rate: -0.703676 m/s,
      LOS rate: -0.004233 deg/s,
      cmd heading: 76.756327 deg,
      new cmd heading: 76.750935 deg.

2025-10-27T15:06:48.888Z,1761577608.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339557 target range: 292.322845 and range: 293.70 m.
2025-10-27T15:06:49.068Z,1761577609.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506000
2025-10-27T15:06:49.239Z,1761577609.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222576,-0.962327,-0.156162],[0.974914,0.219403,0.037489],[-0.001815,-0.160588,0.987020]]
2025-10-27T15:06:49.258Z,1761577609.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.32 m.
2025-10-27T15:06:49.261Z,1761577609.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.322845 m,
      nav range: 286.704529 m,
      bearing: 72.109998 deg,
      approach rate: -0.704089 m/s,
      LOS rate: -0.003969 deg/s,
      cmd heading: 76.750938 deg,
      new cmd heading: 76.746483 deg.

2025-10-27T15:06:49.262Z,1761577609.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339479 target range: 292.322845 and range: 293.70 m.
2025-10-27T15:06:49.321Z,1761577609.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758755
2025-10-27T15:06:49.574Z,1761577609.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012015
2025-10-27T15:06:49.644Z,1761577609.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224406,-0.961654,-0.157683],[0.974493,0.221048,0.038750],[-0.002409,-0.162357,0.986729]]
2025-10-27T15:06:49.687Z,1761577609.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.32 m.
2025-10-27T15:06:49.689Z,1761577609.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.322845 m,
      nav range: 286.420288 m,
      bearing: 72.108882 deg,
      approach rate: -0.663223 m/s,
      LOS rate: -0.002608 deg/s,
      cmd heading: 76.746485 deg,
      new cmd heading: 76.743132 deg.

2025-10-27T15:06:49.690Z,1761577609.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339420 target range: 292.322845 and range: 293.70 m.
2025-10-27T15:06:49.824Z,1761577609.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262411
2025-10-27T15:06:50.046Z,1761577610.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226428,-0.961068,-0.158359],[0.974022,0.222857,0.040196],[-0.003340,-0.163347,0.986563]]
2025-10-27T15:06:50.070Z,1761577610.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:50.072Z,1761577610.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.32 m.
2025-10-27T15:06:50.076Z,1761577610.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514052
2025-10-27T15:06:50.095Z,1761577610.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.322845 m,
      nav range: 286.164520 m,
      bearing: 72.107981 deg,
      approach rate: -0.662824 m/s,
      LOS rate: -0.002337 deg/s,
      cmd heading: 76.743131 deg,
      new cmd heading: 76.740426 deg.

2025-10-27T15:06:50.096Z,1761577610.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339373 target range: 292.322845 and range: 293.70 m.
2025-10-27T15:06:50.328Z,1761577610.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766102
2025-10-27T15:06:50.450Z,1761577610.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228351,-0.960510,-0.158985],[0.973570,0.224598,0.041429],[-0.004085,-0.164244,0.986411]]
2025-10-27T15:06:50.480Z,1761577610.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.32 m.
2025-10-27T15:06:50.483Z,1761577610.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.322845 m,
      nav range: 285.894318 m,
      bearing: 72.107133 deg,
      approach rate: -0.662988 m/s,
      LOS rate: -0.002081 deg/s,
      cmd heading: 76.740426 deg,
      new cmd heading: 76.737882 deg.

2025-10-27T15:06:50.484Z,1761577610.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339329 target range: 292.322845 and range: 293.70 m.
2025-10-27T15:06:50.584Z,1761577610.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020635
2025-10-27T15:06:50.832Z,1761577610.832 [DAT](INFO): DAT read: Rx Time:15:06:49.4364

2025-10-27T15:06:50.832Z,1761577610.832 [DAT](INFO): Rx dataTimestamp_ set to:1761577610.832069
2025-10-27T15:06:50.833Z,1761577610.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270966
2025-10-27T15:06:50.857Z,1761577610.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230482,-0.959995,-0.159019],[0.973066,0.226629,0.042207],[-0.004480,-0.164464,0.986373]]
2025-10-27T15:06:50.914Z,1761577610.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.32 m.
2025-10-27T15:06:50.917Z,1761577610.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.322845 m,
      nav range: 285.605896 m,
      bearing: 72.106133 deg,
      approach rate: -0.664137 m/s,
      LOS rate: -0.002306 deg/s,
      cmd heading: 76.737879 deg,
      new cmd heading: 76.734875 deg.

2025-10-27T15:06:50.918Z,1761577610.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339276 target range: 292.322845 and range: 293.70 m.
2025-10-27T15:06:51.084Z,1761577611.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521948
2025-10-27T15:06:51.258Z,1761577611.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232552,-0.959868,-0.156756],[0.972573,0.228751,0.042120],[-0.004571,-0.162252,0.986739]]
2025-10-27T15:06:51.277Z,1761577611.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.32 m.
2025-10-27T15:06:51.317Z,1761577611.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.322845 m,
      nav range: 285.365082 m,
      bearing: 72.105402 deg,
      approach rate: -0.665781 m/s,
      LOS rate: -0.002022 deg/s,
      cmd heading: 76.734874 deg,
      new cmd heading: 76.732680 deg.

2025-10-27T15:06:51.349Z,1761577611.349 [DAT](INFO): DAT read: 15:06:49.4363 LVL= 32752, 32753, 32290, 22499, AGC= 62, IDX= 100,-0.07,-2.527, 2.380,-2.333,-2.982, PHS= 0.557,-0.876, 0.606, RAW= 151.7,  -4.0, CAL= 151.2,  -5.2, ROT= 358.8,   5.2

2025-10-27T15:06:51.350Z,1761577611.350 [DAT](INFO): got valid direction response:
 15:06:49.4363 LVL= 32752, 32753, 32290, 22499, AGC= 62, IDX= 100,-0.07,-2.527, 2.380,-2.333,-2.982, PHS= 0.557,-0.876, 0.606, RAW= 151.7,  -4.0, CAL= 151.2,  -5.2, ROT= 358.8,   5.2

2025-10-27T15:06:51.351Z,1761577611.351 [DAT](INFO): DAT read: Bearing 214.0,  -0.4 (Local)

2025-10-27T15:06:51.351Z,1761577611.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.0,  -0.4 (Local)

2025-10-27T15:06:51.359Z,1761577611.359 [DAT](INFO): DAT read: Range 11 to 50 : 306.3 m  (Round-trip  408.5 ms) speed  0.4 m/s

2025-10-27T15:06:51.360Z,1761577611.360 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:51.361Z,1761577611.361 [DAT](INFO): direction in FSK: [0.995666,-0.020856,-0.090633]
2025-10-27T15:06:51.361Z,1761577611.361 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:51.382Z,1761577611.382 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:51.382Z,1761577611.382 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:51.382Z,1761577611.382 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:51.385Z,1761577611.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339238 target range: 292.322845 and range: 293.70 m.
2025-10-27T15:06:51.598Z,1761577611.598 [DAT](INFO): DAT read: user:932>

2025-10-27T15:06:51.601Z,1761577611.601 [DAT](INFO): DAT read: Tx time:15:06:50.6236

2025-10-27T15:06:51.602Z,1761577611.602 [DAT](INFO): Ping request sent.
2025-10-27T15:06:51.603Z,1761577611.603 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:51.604Z,1761577611.604 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:51.605Z,1761577611.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002622
2025-10-27T15:06:51.848Z,1761577611.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245704
2025-10-27T15:06:51.856Z,1761577611.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.299988 m,
      deltaT: 4.037114 s,
      deltaX: 12.599976 m,
      approachRate: 3.121035 m/s,
      rangeRepo size: 4

2025-10-27T15:06:51.858Z,1761577611.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.863953 m,
      bearing: 74.522029 deg,
      lat: 36.779205 deg,
      lon: -121.859337 deg,
      deltaT: 4.037114 s,
      deltaX: 12.541107 m,
      approachRate: 3.106454 m/s,
      posRepo size: 4

2025-10-27T15:06:51.858Z,1761577611.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.86 m.
2025-10-27T15:06:51.865Z,1761577611.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.863953 m,
      nav range: 285.062805 m,
      bearing: 72.721870 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002022 deg/s,
      cmd heading: 76.732681 deg,
      new cmd heading: 76.729170 deg.

2025-10-27T15:06:51.866Z,1761577611.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339177 target range: 304.863953 and range: 306.30 m.
2025-10-27T15:06:52.100Z,1761577612.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497731
2025-10-27T15:06:52.124Z,1761577612.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236464,-0.958616,-0.158560],[0.971626,0.232397,0.043990],[-0.005321,-0.164463,0.986369]]
2025-10-27T15:06:52.157Z,1761577612.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:52.176Z,1761577612.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.86 m.
2025-10-27T15:06:52.183Z,1761577612.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.863953 m,
      nav range: 284.845245 m,
      bearing: 72.721179 deg,
      approach rate: -0.676972 m/s,
      LOS rate: -0.002154 deg/s,
      cmd heading: 76.729170 deg,
      new cmd heading: 76.727093 deg.

2025-10-27T15:06:52.184Z,1761577612.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339140 target range: 304.863953 and range: 306.30 m.
2025-10-27T15:06:52.352Z,1761577612.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749598
2025-10-27T15:06:52.518Z,1761577612.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237923,-0.958412,-0.157603],[0.971269,0.233872,0.044046],[-0.005355,-0.163555,0.986520]]
2025-10-27T15:06:52.537Z,1761577612.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.86 m.
2025-10-27T15:06:52.564Z,1761577612.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.863953 m,
      nav range: 284.580353 m,
      bearing: 72.720417 deg,
      approach rate: -0.734564 m/s,
      LOS rate: -0.002114 deg/s,
      cmd heading: 76.727094 deg,
      new cmd heading: 76.724807 deg.

2025-10-27T15:06:52.565Z,1761577612.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339100 target range: 304.863953 and range: 306.30 m.
2025-10-27T15:06:52.607Z,1761577612.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004112
2025-10-27T15:06:52.856Z,1761577612.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253492
2025-10-27T15:06:52.922Z,1761577612.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239185,-0.957896,-0.158826],[0.970957,0.234992,0.044958],[-0.005742,-0.164967,0.986282]]
2025-10-27T15:06:52.997Z,1761577612.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.86 m.
2025-10-27T15:06:53.004Z,1761577613.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.863953 m,
      nav range: 284.254761 m,
      bearing: 72.718258 deg,
      approach rate: -0.707377 m/s,
      LOS rate: -0.004696 deg/s,
      cmd heading: 76.724806 deg,
      new cmd heading: 76.718321 deg.

2025-10-27T15:06:53.005Z,1761577613.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338987 target range: 304.863953 and range: 306.30 m.
2025-10-27T15:06:53.109Z,1761577613.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506581
2025-10-27T15:06:53.328Z,1761577613.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240410,-0.957637,-0.158542],[0.970653,0.236157,0.045424],[-0.006059,-0.164809,0.986307]]
2025-10-27T15:06:53.364Z,1761577613.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761405
2025-10-27T15:06:53.378Z,1761577613.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.86 m.
2025-10-27T15:06:53.381Z,1761577613.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.863953 m,
      nav range: 283.997498 m,
      bearing: 72.716615 deg,
      approach rate: -0.674790 m/s,
      LOS rate: -0.004315 deg/s,
      cmd heading: 76.718324 deg,
      new cmd heading: 76.713389 deg.

2025-10-27T15:06:53.382Z,1761577613.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338901 target range: 304.863953 and range: 306.30 m.
2025-10-27T15:06:53.616Z,1761577613.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014113
2025-10-27T15:06:53.737Z,1761577613.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240910,-0.957797,-0.156804],[0.970527,0.236696,0.045296],[-0.006269,-0.163094,0.986591]]
2025-10-27T15:06:53.838Z,1761577613.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.86 m.
2025-10-27T15:06:53.845Z,1761577613.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.863953 m,
      nav range: 283.633118 m,
      bearing: 72.712384 deg,
      approach rate: -0.792418 m/s,
      LOS rate: -0.009211 deg/s,
      cmd heading: 76.713386 deg,
      new cmd heading: 76.700679 deg.

2025-10-27T15:06:53.846Z,1761577613.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338679 target range: 304.863953 and range: 306.30 m.
2025-10-27T15:06:53.868Z,1761577613.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265862
2025-10-27T15:06:54.120Z,1761577614.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518064
2025-10-27T15:06:54.190Z,1761577614.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241234,-0.957777,-0.156425],[0.970446,0.237019,0.045350],[-0.006359,-0.162742,0.986648]]
2025-10-27T15:06:54.222Z,1761577614.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:54.224Z,1761577614.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.86 m.
2025-10-27T15:06:54.227Z,1761577614.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.863953 m,
      nav range: 283.337402 m,
      bearing: 72.708964 deg,
      approach rate: -0.766106 m/s,
      LOS rate: -0.008870 deg/s,
      cmd heading: 76.700682 deg,
      new cmd heading: 76.690410 deg.

2025-10-27T15:06:54.228Z,1761577614.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338500 target range: 304.863953 and range: 306.30 m.
2025-10-27T15:06:54.372Z,1761577614.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770071
2025-10-27T15:06:54.587Z,1761577614.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240657,-0.958096,-0.155361],[0.970590,0.236509,0.044931],[-0.006304,-0.161605,0.986835]]
2025-10-27T15:06:54.610Z,1761577614.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.86 m.
2025-10-27T15:06:54.613Z,1761577614.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.863953 m,
      nav range: 283.033234 m,
      bearing: 72.705404 deg,
      approach rate: -0.791313 m/s,
      LOS rate: -0.009272 deg/s,
      cmd heading: 76.690409 deg,
      new cmd heading: 76.679717 deg.

2025-10-27T15:06:54.614Z,1761577614.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338314 target range: 304.863953 and range: 306.30 m.
2025-10-27T15:06:54.628Z,1761577614.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025026
2025-10-27T15:06:54.876Z,1761577614.876 [DAT](INFO): DAT read: Rx Time:15:06:53.4330

2025-10-27T15:06:54.877Z,1761577614.877 [DAT](INFO): Rx dataTimestamp_ set to:1761577614.876227
2025-10-27T15:06:54.877Z,1761577614.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274801
2025-10-27T15:06:55.030Z,1761577615.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239784,-0.958346,-0.155167],[0.970808,0.235711,0.044410],[-0.005985,-0.161286,0.986890]]
2025-10-27T15:06:55.090Z,1761577615.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.86 m.
2025-10-27T15:06:55.093Z,1761577615.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.863953 m,
      nav range: 282.647736 m,
      bearing: 72.700321 deg,
      approach rate: -0.800632 m/s,
      LOS rate: -0.010571 deg/s,
      cmd heading: 76.679720 deg,
      new cmd heading: 76.664451 deg.

2025-10-27T15:06:55.094Z,1761577615.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338047 target range: 304.863953 and range: 306.30 m.
2025-10-27T15:06:55.129Z,1761577615.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526074
2025-10-27T15:06:55.385Z,1761577615.385 [DAT](INFO): DAT read: 15:06:53.4330 LVL= 32752, 32753, 32482, 32755, AGC= 60, IDX= 189,-0.38, 0.773,-0.787, 1.163, 0.653, PHS= 0.222,-1.396, 0.466, RAW= 156.9,   8.1, CAL= 156.5,   8.5, ROT= 353.5,  -8.5

2025-10-27T15:06:55.386Z,1761577615.386 [DAT](INFO): got valid direction response:
 15:06:53.4330 LVL= 32752, 32753, 32482, 32755, AGC= 60, IDX= 189,-0.38, 0.773,-0.787, 1.163, 0.653, PHS= 0.222,-1.396, 0.466, RAW= 156.9,   8.1, CAL= 156.5,   8.5, ROT= 353.5,  -8.5

2025-10-27T15:06:55.387Z,1761577615.387 [DAT](INFO): DAT read: Bearing 227.0,  -8.0 (Local)

2025-10-27T15:06:55.388Z,1761577615.388 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.0,  -8.0 (Local)

2025-10-27T15:06:55.389Z,1761577615.389 [DAT](INFO): DAT read: Range 11 to 50 : 303.9 m  (Round-trip  405.2 ms) speed  0.8 m/s

2025-10-27T15:06:55.390Z,1761577615.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:06:55.391Z,1761577615.391 [DAT](INFO): direction in FSK: [0.982658,-0.111960,0.147809]
2025-10-27T15:06:55.414Z,1761577615.414 [DAT](INFO): publishing direction and range info
2025-10-27T15:06:55.417Z,1761577615.417 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:55.417Z,1761577615.417 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:55.418Z,1761577615.418 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:06:55.447Z,1761577615.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238806,-0.958439,-0.156096],[0.971050,0.234732,0.044308],[-0.005826,-0.162158,0.986748]]
2025-10-27T15:06:55.506Z,1761577615.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 303.899994 m,
      deltaT: 4.038690 s,
      deltaX: -2.399994 m,
      approachRate: -0.594251 m/s,
      rangeRepo size: 4

2025-10-27T15:06:55.513Z,1761577615.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 302.476349 m,
      bearing: 71.157352 deg,
      lat: 36.779205 deg,
      lon: -121.859280 deg,
      deltaT: 4.038690 s,
      deltaX: -2.387604 m,
      approachRate: -0.591183 m/s,
      posRepo size: 4

2025-10-27T15:06:55.513Z,1761577615.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:55.520Z,1761577615.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 287.122406 m,
      bearing: 72.993564 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010571 deg/s,
      cmd heading: 76.664447 deg,
      new cmd heading: 76.651261 deg.

2025-10-27T15:06:55.521Z,1761577615.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337817 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:55.632Z,1761577615.632 [DAT](INFO): DAT read: user:933>

2025-10-27T15:06:55.633Z,1761577615.633 [DAT](INFO): DAT read: Tx time:15:06:54.6736

2025-10-27T15:06:55.633Z,1761577615.633 [DAT](INFO): Ping request sent.
2025-10-27T15:06:55.633Z,1761577615.633 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:06:55.634Z,1761577615.634 [DAT](INFO): publishing transmit ping time
2025-10-27T15:06:55.634Z,1761577615.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-10-27T15:06:55.838Z,1761577615.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237189,-0.958472,-0.158344],[0.971449,0.233112,0.044118],[-0.005374,-0.164287,0.986398]]
2025-10-27T15:06:55.884Z,1761577615.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250613
2025-10-27T15:06:55.919Z,1761577615.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:55.922Z,1761577615.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 286.780701 m,
      bearing: 72.989218 deg,
      approach rate: -0.835627 m/s,
      LOS rate: -0.010641 deg/s,
      cmd heading: 76.651258 deg,
      new cmd heading: 76.638204 deg.

2025-10-27T15:06:55.927Z,1761577615.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337589 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:56.136Z,1761577616.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503089
2025-10-27T15:06:56.230Z,1761577616.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234792,-0.959195,-0.157538],[0.972034,0.230901,0.042826],[-0.004703,-0.163188,0.986584]]
2025-10-27T15:06:56.246Z,1761577616.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:56.249Z,1761577616.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:56.252Z,1761577616.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 286.503540 m,
      bearing: 72.985549 deg,
      approach rate: -0.830203 m/s,
      LOS rate: -0.011002 deg/s,
      cmd heading: 76.638206 deg,
      new cmd heading: 76.627187 deg.

2025-10-27T15:06:56.252Z,1761577616.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337397 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:56.388Z,1761577616.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754529
2025-10-27T15:06:56.637Z,1761577616.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232788,-0.959777,-0.156966],[0.972518,0.229017,0.041954],[-0.004319,-0.162418,0.986713]]
2025-10-27T15:06:56.641Z,1761577616.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007642
2025-10-27T15:06:56.682Z,1761577616.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:56.721Z,1761577616.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 286.170593 m,
      bearing: 72.980994 deg,
      approach rate: -0.771501 m/s,
      LOS rate: -0.010566 deg/s,
      cmd heading: 76.627189 deg,
      new cmd heading: 76.613509 deg.

2025-10-27T15:06:56.723Z,1761577616.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337158 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:56.892Z,1761577616.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258480
2025-10-27T15:06:57.038Z,1761577617.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230614,-0.960638,-0.154895],[0.973037,0.227018,0.040758],[-0.003990,-0.160118,0.987090]]
2025-10-27T15:06:57.081Z,1761577617.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:57.084Z,1761577617.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 285.824432 m,
      bearing: 72.976121 deg,
      approach rate: -0.862713 m/s,
      LOS rate: -0.012159 deg/s,
      cmd heading: 76.613508 deg,
      new cmd heading: 76.598872 deg.

2025-10-27T15:06:57.085Z,1761577617.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336902 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:57.145Z,1761577617.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511596
2025-10-27T15:06:57.396Z,1761577617.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762706
2025-10-27T15:06:57.500Z,1761577617.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:57.502Z,1761577617.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 285.491730 m,
      bearing: 72.971426 deg,
      approach rate: -0.795526 m/s,
      LOS rate: -0.011240 deg/s,
      cmd heading: 76.598871 deg,
      new cmd heading: 76.584769 deg.

2025-10-27T15:06:57.504Z,1761577617.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336656 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:57.648Z,1761577617.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014488
2025-10-27T15:06:57.850Z,1761577617.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226743,-0.961964,-0.152354],[0.973947,0.223338,0.039337],[-0.003815,-0.157304,0.987543]]
2025-10-27T15:06:57.898Z,1761577617.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:57.900Z,1761577617.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266706
2025-10-27T15:06:57.902Z,1761577617.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 285.166748 m,
      bearing: 72.968197 deg,
      approach rate: -0.815830 m/s,
      LOS rate: -0.008116 deg/s,
      cmd heading: 76.584766 deg,
      new cmd heading: 76.575068 deg.

2025-10-27T15:06:57.920Z,1761577617.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336487 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:58.153Z,1761577618.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518794
2025-10-27T15:06:58.252Z,1761577618.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225749,-0.962286,-0.151797],[0.974178,0.222383,0.039022],[-0.003793,-0.156686,0.987641]]
2025-10-27T15:06:58.277Z,1761577618.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:06:58.280Z,1761577618.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:58.286Z,1761577618.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 284.871185 m,
      bearing: 72.965192 deg,
      approach rate: -0.773103 m/s,
      LOS rate: -0.007867 deg/s,
      cmd heading: 76.575068 deg,
      new cmd heading: 76.566044 deg.

2025-10-27T15:06:58.287Z,1761577618.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336330 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:58.405Z,1761577618.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770942
2025-10-27T15:06:58.654Z,1761577618.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224766,-0.962697,-0.150645],[0.974406,0.221461,0.038588],[-0.003786,-0.155463,0.987834]]
2025-10-27T15:06:58.656Z,1761577618.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022636
2025-10-27T15:06:58.734Z,1761577618.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:58.750Z,1761577618.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 284.552032 m,
      bearing: 72.961875 deg,
      approach rate: -0.705566 m/s,
      LOS rate: -0.007341 deg/s,
      cmd heading: 76.566045 deg,
      new cmd heading: 76.556083 deg.

2025-10-27T15:06:58.755Z,1761577618.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336156 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:58.913Z,1761577618.913 [DAT](INFO): DAT read: 15:06:57.4791 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 172,-0.00, 2.426, 0.891, 2.823, 2.317, PHS= 0.211,-1.381, 0.462, RAW= 157.2,   8.2, CAL= 156.8,   8.6, ROT= 353.2,  -8.6

2025-10-27T15:06:58.914Z,1761577618.914 [DAT](INFO): got valid direction response:
 15:06:57.4791 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 172,-0.00, 2.426, 0.891, 2.823, 2.317, PHS= 0.211,-1.381, 0.462, RAW= 157.2,   8.2, CAL= 156.8,   8.6, ROT= 353.2,  -8.6

2025-10-27T15:06:58.915Z,1761577618.915 [DAT](INFO): DAT read: Rx Time:15:06:57.4791

2025-10-27T15:06:58.916Z,1761577618.916 [DAT](INFO): Rx dataTimestamp_ set to:1761577618.915601
2025-10-27T15:06:58.917Z,1761577618.917 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-27T15:06:58.917Z,1761577618.917 [DAT](INFO): Received low SNR in chirp
2025-10-27T15:06:58.931Z,1761577618.931 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T15:06:58.932Z,1761577618.932 [DAT](INFO): direction in FSK: [0.981801,-0.117073,0.149535]
2025-10-27T15:06:58.935Z,1761577618.935 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:58.935Z,1761577618.935 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:58.935Z,1761577618.935 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:06:59.100Z,1761577619.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224503,-0.962495,-0.152323],[0.974465,0.221115,0.039052],[-0.003907,-0.157201,0.987559]]
2025-10-27T15:06:59.137Z,1761577619.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:59.140Z,1761577619.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 284.201813 m,
      bearing: 72.959559 deg,
      approach rate: -0.866934 m/s,
      LOS rate: -0.005740 deg/s,
      cmd heading: 76.556087 deg,
      new cmd heading: 76.549130 deg.

2025-10-27T15:06:59.140Z,1761577619.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336034 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:59.160Z,1761577619.160 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:59.160Z,1761577619.160 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:59.160Z,1761577619.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:06:59.414Z,1761577619.414 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:59.414Z,1761577619.414 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:59.414Z,1761577619.414 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:06:59.498Z,1761577619.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224891,-0.962354,-0.152639],[0.974375,0.221426,0.039557],[-0.004269,-0.157623,0.987490]]
2025-10-27T15:06:59.524Z,1761577619.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:59.527Z,1761577619.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 283.908417 m,
      bearing: 72.957639 deg,
      approach rate: -0.757360 m/s,
      LOS rate: -0.004963 deg/s,
      cmd heading: 76.549133 deg,
      new cmd heading: 76.543366 deg.

2025-10-27T15:06:59.528Z,1761577619.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335934 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:06:59.664Z,1761577619.664 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:59.664Z,1761577619.664 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:59.664Z,1761577619.664 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:06:59.916Z,1761577619.916 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:06:59.916Z,1761577619.916 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:06:59.916Z,1761577619.916 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:06:59.952Z,1761577619.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:06:59.955Z,1761577619.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 283.587311 m,
      bearing: 72.956023 deg,
      approach rate: -0.750363 m/s,
      LOS rate: -0.003780 deg/s,
      cmd heading: 76.543369 deg,
      new cmd heading: 76.538516 deg.

2025-10-27T15:06:59.956Z,1761577619.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335849 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:00.168Z,1761577620.168 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:00.168Z,1761577620.168 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:00.168Z,1761577620.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:00.311Z,1761577620.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226027,-0.961395,-0.156945],[0.974110,0.222313,0.041060],[-0.004584,-0.162163,0.986753]]
2025-10-27T15:07:00.327Z,1761577620.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:00.329Z,1761577620.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:00.332Z,1761577620.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 283.304321 m,
      bearing: 72.954667 deg,
      approach rate: -0.749778 m/s,
      LOS rate: -0.003597 deg/s,
      cmd heading: 76.538512 deg,
      new cmd heading: 76.534439 deg.

2025-10-27T15:07:00.333Z,1761577620.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335778 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:00.421Z,1761577620.421 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:00.421Z,1761577620.421 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:00.421Z,1761577620.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:00.672Z,1761577620.672 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:00.672Z,1761577620.672 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:00.672Z,1761577620.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:00.804Z,1761577620.804 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      +127.35,     ,      89.73  +38,  -723,   -16,    +7,A  -38,  +723,   -16,A
2025-10-27T15:07:00.819Z,1761577620.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:00.822Z,1761577620.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 282.936707 m,
      bearing: 72.952901 deg,
      approach rate: -0.751132 m/s,
      LOS rate: -0.003613 deg/s,
      cmd heading: 76.534442 deg,
      new cmd heading: 76.529137 deg.

2025-10-27T15:07:00.823Z,1761577620.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335685 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:00.924Z,1761577620.924 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:00.924Z,1761577620.924 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:00.924Z,1761577620.924 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:01.113Z,1761577621.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228009,-0.960634,-0.158724],[0.973644,0.224050,0.042651],[-0.005410,-0.164265,0.986401]]
2025-10-27T15:07:01.145Z,1761577621.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:01.148Z,1761577621.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 282.692108 m,
      bearing: 72.951826 deg,
      approach rate: -0.750306 m/s,
      LOS rate: -0.003300 deg/s,
      cmd heading: 76.529135 deg,
      new cmd heading: 76.525907 deg.

2025-10-27T15:07:01.149Z,1761577621.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335629 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:01.180Z,1761577621.180 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:01.180Z,1761577621.180 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:01.180Z,1761577621.180 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:01.432Z,1761577621.432 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:01.432Z,1761577621.432 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:01.432Z,1761577621.432 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:01.518Z,1761577621.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228907,-0.959997,-0.161270],[0.973433,0.224807,0.043477],[-0.005483,-0.166938,0.985952]]
2025-10-27T15:07:01.543Z,1761577621.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:01.546Z,1761577621.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 282.393158 m,
      bearing: 72.950568 deg,
      approach rate: -0.750616 m/s,
      LOS rate: -0.003161 deg/s,
      cmd heading: 76.525904 deg,
      new cmd heading: 76.522127 deg.

2025-10-27T15:07:01.547Z,1761577621.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335563 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:01.684Z,1761577621.684 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:01.684Z,1761577621.684 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:01.684Z,1761577621.684 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:01.936Z,1761577621.936 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:01.936Z,1761577621.936 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:01.936Z,1761577621.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:02.009Z,1761577622.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:02.017Z,1761577622.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 282.074585 m,
      bearing: 72.950703 deg,
      approach rate: -0.683684 m/s,
      LOS rate: 0.000290 deg/s,
      cmd heading: 76.522127 deg,
      new cmd heading: 76.522532 deg.

2025-10-27T15:07:02.018Z,1761577622.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335570 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:02.188Z,1761577622.188 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:02.188Z,1761577622.188 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:02.188Z,1761577622.188 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:02.350Z,1761577622.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230899,-0.959535,-0.161177],[0.972958,0.226656,0.044487],[-0.006155,-0.167091,0.985922]]
2025-10-27T15:07:02.367Z,1761577622.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:02.369Z,1761577622.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:02.372Z,1761577622.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 281.819397 m,
      bearing: 72.950918 deg,
      approach rate: -0.708151 m/s,
      LOS rate: 0.000596 deg/s,
      cmd heading: 76.522530 deg,
      new cmd heading: 76.523174 deg.

2025-10-27T15:07:02.373Z,1761577622.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335581 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:02.440Z,1761577622.440 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:02.440Z,1761577622.440 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:02.440Z,1761577622.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:02.692Z,1761577622.692 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:02.692Z,1761577622.692 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:02.692Z,1761577622.692 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:02.814Z,1761577622.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231919,-0.959285,-0.161203],[0.972712,0.227569,0.045204],[-0.006679,-0.167288,0.985885]]
2025-10-27T15:07:02.852Z,1761577622.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:02.854Z,1761577622.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 281.476471 m,
      bearing: 72.951262 deg,
      approach rate: -0.710943 m/s,
      LOS rate: 0.000714 deg/s,
      cmd heading: 76.523172 deg,
      new cmd heading: 76.524205 deg.

2025-10-27T15:07:02.856Z,1761577622.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335599 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:02.944Z,1761577622.944 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:02.944Z,1761577622.944 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:02.944Z,1761577622.944 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:03.183Z,1761577623.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232991,-0.958954,-0.161622],[0.972453,0.228526,0.045950],[-0.007130,-0.167876,0.985782]]
2025-10-27T15:07:03.196Z,1761577623.196 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:03.196Z,1761577623.196 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:03.196Z,1761577623.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:03.210Z,1761577623.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:03.213Z,1761577623.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 281.220551 m,
      bearing: 72.951576 deg,
      approach rate: -0.713500 m/s,
      LOS rate: 0.000878 deg/s,
      cmd heading: 76.524203 deg,
      new cmd heading: 76.525148 deg.

2025-10-27T15:07:03.214Z,1761577623.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335616 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:03.448Z,1761577623.448 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:03.448Z,1761577623.448 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:03.448Z,1761577623.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:03.586Z,1761577623.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234057,-0.958688,-0.161661],[0.972192,0.229458,0.046818],[-0.007790,-0.168124,0.985735]]
2025-10-27T15:07:03.605Z,1761577623.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:03.624Z,1761577623.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 280.939819 m,
      bearing: 72.951984 deg,
      approach rate: -0.711748 m/s,
      LOS rate: 0.001036 deg/s,
      cmd heading: 76.525146 deg,
      new cmd heading: 76.526372 deg.

2025-10-27T15:07:03.625Z,1761577623.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335637 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:03.700Z,1761577623.700 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:03.700Z,1761577623.700 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:03.700Z,1761577623.700 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:03.952Z,1761577623.952 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:03.952Z,1761577623.952 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:03.952Z,1761577623.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:03.990Z,1761577623.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234391,-0.958781,-0.160622],[0.972106,0.229741,0.047201],[-0.008354,-0.167205,0.985887]]
2025-10-27T15:07:04.060Z,1761577624.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:04.070Z,1761577624.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 280.634949 m,
      bearing: 72.951303 deg,
      approach rate: -0.669297 m/s,
      LOS rate: -0.001498 deg/s,
      cmd heading: 76.526375 deg,
      new cmd heading: 76.524329 deg.

2025-10-27T15:07:04.071Z,1761577624.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335601 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:04.206Z,1761577624.206 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:04.206Z,1761577624.206 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:04.206Z,1761577624.206 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:04.394Z,1761577624.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234725,-0.958771,-0.160195],[0.972021,0.229998,0.047706],[-0.008895,-0.166911,0.985932]]
2025-10-27T15:07:04.430Z,1761577624.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:04.437Z,1761577624.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:04.443Z,1761577624.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 280.377441 m,
      bearing: 72.950745 deg,
      approach rate: -0.684499 m/s,
      LOS rate: -0.001486 deg/s,
      cmd heading: 76.524326 deg,
      new cmd heading: 76.522650 deg.

2025-10-27T15:07:04.444Z,1761577624.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335572 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:04.460Z,1761577624.460 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:04.460Z,1761577624.460 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:04.460Z,1761577624.460 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:04.714Z,1761577624.714 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:04.714Z,1761577624.714 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:04.714Z,1761577624.714 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:04.838Z,1761577624.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234917,-0.959063,-0.158154],[0.971970,0.230203,0.047758],[-0.009395,-0.164940,0.986259]]
2025-10-27T15:07:04.881Z,1761577624.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:04.884Z,1761577624.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 280.060333 m,
      bearing: 72.949913 deg,
      approach rate: -0.713163 m/s,
      LOS rate: -0.001873 deg/s,
      cmd heading: 76.522653 deg,
      new cmd heading: 76.520154 deg.

2025-10-27T15:07:04.885Z,1761577624.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335529 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:04.964Z,1761577624.964 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:04.964Z,1761577624.964 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:04.964Z,1761577624.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:05.202Z,1761577625.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235302,-0.959161,-0.156982],[0.971872,0.230563,0.048010],[-0.009855,-0.163864,0.986434]]
2025-10-27T15:07:05.216Z,1761577625.216 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:05.216Z,1761577625.216 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:05.216Z,1761577625.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:05.221Z,1761577625.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:05.224Z,1761577625.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 279.829773 m,
      bearing: 72.949327 deg,
      approach rate: -0.678095 m/s,
      LOS rate: -0.001725 deg/s,
      cmd heading: 76.520153 deg,
      new cmd heading: 76.518394 deg.

2025-10-27T15:07:05.225Z,1761577625.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335498 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:05.468Z,1761577625.468 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:05.469Z,1761577625.469 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:05.469Z,1761577625.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:07:05.639Z,1761577625.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:05.642Z,1761577625.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 279.544067 m,
      bearing: 72.948599 deg,
      approach rate: -0.683021 m/s,
      LOS rate: -0.001741 deg/s,
      cmd heading: 76.518391 deg,
      new cmd heading: 76.516206 deg.

2025-10-27T15:07:05.643Z,1761577625.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335460 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:05.720Z,1761577625.720 [DAT](INFO): Reached modem response timeout
2025-10-27T15:07:05.721Z,1761577625.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:05.721Z,1761577625.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:05.972Z,1761577625.972 [DAT](INFO): DAT read: 

2025-10-27T15:07:05.972Z,1761577625.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:06.009Z,1761577626.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235749,-0.959005,-0.157260],[0.971757,0.230874,0.048845],[-0.010535,-0.164334,0.986349]]
2025-10-27T15:07:06.064Z,1761577626.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:06.066Z,1761577626.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 279.245361 m,
      bearing: 72.947612 deg,
      approach rate: -0.703888 m/s,
      LOS rate: -0.002329 deg/s,
      cmd heading: 76.516205 deg,
      new cmd heading: 76.513240 deg.

2025-10-27T15:07:06.088Z,1761577626.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335408 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:06.224Z,1761577626.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:06.414Z,1761577626.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235864,-0.959348,-0.154983],[0.971724,0.231026,0.048785],[-0.010997,-0.162107,0.986712]]
2025-10-27T15:07:06.434Z,1761577626.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:06.436Z,1761577626.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:06.439Z,1761577626.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 278.983612 m,
      bearing: 72.946754 deg,
      approach rate: -0.703053 m/s,
      LOS rate: -0.002305 deg/s,
      cmd heading: 76.513241 deg,
      new cmd heading: 76.510666 deg.

2025-10-27T15:07:06.440Z,1761577626.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335363 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:06.478Z,1761577626.478 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:06.729Z,1761577626.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:06.868Z,1761577626.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235674,-0.959867,-0.152030],[0.971769,0.230971,0.048141],[-0.011095,-0.159083,0.987203]]
2025-10-27T15:07:06.931Z,1761577626.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:06.934Z,1761577626.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 278.649139 m,
      bearing: 72.945085 deg,
      approach rate: -0.692547 m/s,
      LOS rate: -0.003462 deg/s,
      cmd heading: 76.510666 deg,
      new cmd heading: 76.505650 deg.

2025-10-27T15:07:06.935Z,1761577626.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335276 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:06.980Z,1761577626.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:07.232Z,1761577627.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:07.284Z,1761577627.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235758,-0.960168,-0.149984],[0.971745,0.231113,0.047939],[-0.011367,-0.157048,0.987526]]
2025-10-27T15:07:07.310Z,1761577627.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:07.312Z,1761577627.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 278.360168 m,
      bearing: 72.943647 deg,
      approach rate: -0.739987 m/s,
      LOS rate: -0.003685 deg/s,
      cmd heading: 76.505652 deg,
      new cmd heading: 76.501336 deg.

2025-10-27T15:07:07.313Z,1761577627.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335200 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:07.488Z,1761577627.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:07.678Z,1761577627.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236033,-0.960064,-0.150219],[0.971675,0.231320,0.048363],[-0.011683,-0.157379,0.987469]]
2025-10-27T15:07:07.696Z,1761577627.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:07.699Z,1761577627.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 278.084229 m,
      bearing: 72.942287 deg,
      approach rate: -0.713429 m/s,
      LOS rate: -0.003519 deg/s,
      cmd heading: 76.501336 deg,
      new cmd heading: 76.497252 deg.

2025-10-27T15:07:07.700Z,1761577627.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335129 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:07.736Z,1761577627.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:07.988Z,1761577627.988 [DAT](INFO): DAT read: Response Not Received

2025-10-27T15:07:07.988Z,1761577627.988 [DAT](INFO): response not received
2025-10-27T15:07:07.989Z,1761577627.989 [DAT](INFO): DAT read: user:935>Tx time:15:07:07.1236

2025-10-27T15:07:07.989Z,1761577627.989 [DAT](ERROR): No response from remote modem.
2025-10-27T15:07:07.990Z,1761577627.990 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:07.990Z,1761577627.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:08.081Z,1761577628.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236554,-0.959846,-0.150790],[0.971547,0.231783,0.048722],[-0.011815,-0.158025,0.987364]]
2025-10-27T15:07:08.141Z,1761577628.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:08.144Z,1761577628.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 277.757050 m,
      bearing: 72.940042 deg,
      approach rate: -0.735875 m/s,
      LOS rate: -0.005056 deg/s,
      cmd heading: 76.497251 deg,
      new cmd heading: 76.490507 deg.

2025-10-27T15:07:08.145Z,1761577628.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335011 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:08.240Z,1761577628.240 [DAT](INFO): DAT read: 

2025-10-27T15:07:08.240Z,1761577628.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:08.492Z,1761577628.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:08.503Z,1761577628.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237318,-0.959861,-0.149489],[0.971362,0.232629,0.048365],[-0.011649,-0.156686,0.987580]]
2025-10-27T15:07:08.520Z,1761577628.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:08.522Z,1761577628.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:08.525Z,1761577628.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 277.477020 m,
      bearing: 72.938163 deg,
      approach rate: -0.734946 m/s,
      LOS rate: -0.004937 deg/s,
      cmd heading: 76.490510 deg,
      new cmd heading: 76.484867 deg.

2025-10-27T15:07:08.526Z,1761577628.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334913 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:08.745Z,1761577628.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:08.906Z,1761577628.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237472,-0.959771,-0.149822],[0.971324,0.232761,0.048490],[-0.011666,-0.157041,0.987523]]
2025-10-27T15:07:08.954Z,1761577628.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:08.957Z,1761577628.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 277.157227 m,
      bearing: 72.935291 deg,
      approach rate: -0.740453 m/s,
      LOS rate: -0.006656 deg/s,
      cmd heading: 76.484868 deg,
      new cmd heading: 76.476244 deg.

2025-10-27T15:07:08.958Z,1761577628.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334762 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:08.996Z,1761577628.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:09.249Z,1761577629.249 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:09.293Z,1761577629.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237958,-0.959242,-0.152417],[0.971207,0.233128,0.049077],[-0.011544,-0.159707,0.987097]]
2025-10-27T15:07:09.324Z,1761577629.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:09.326Z,1761577629.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 276.882965 m,
      bearing: 72.932849 deg,
      approach rate: -0.741488 m/s,
      LOS rate: -0.006611 deg/s,
      cmd heading: 76.476242 deg,
      new cmd heading: 76.468906 deg.

2025-10-27T15:07:09.328Z,1761577629.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334634 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:09.500Z,1761577629.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:09.697Z,1761577629.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238009,-0.959065,-0.153449],[0.971196,0.233156,0.049151],[-0.011361,-0.160727,0.986933]]
2025-10-27T15:07:09.716Z,1761577629.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:09.720Z,1761577629.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 276.592468 m,
      bearing: 72.930258 deg,
      approach rate: -0.740865 m/s,
      LOS rate: -0.006613 deg/s,
      cmd heading: 76.468906 deg,
      new cmd heading: 76.461127 deg.

2025-10-27T15:07:09.721Z,1761577629.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334498 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:09.753Z,1761577629.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:10.004Z,1761577630.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:10.103Z,1761577630.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238167,-0.958971,-0.153792],[0.971157,0.233285,0.049311],[-0.011411,-0.161101,0.986872]]
2025-10-27T15:07:10.140Z,1761577630.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:10.142Z,1761577630.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 276.263672 m,
      bearing: 72.926516 deg,
      approach rate: -0.777660 m/s,
      LOS rate: -0.008860 deg/s,
      cmd heading: 76.461126 deg,
      new cmd heading: 76.449888 deg.

2025-10-27T15:07:10.143Z,1761577630.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334302 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:10.257Z,1761577630.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:10.508Z,1761577630.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:10.510Z,1761577630.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238111,-0.958877,-0.154461],[0.971173,0.233220,0.049321],[-0.011269,-0.161752,0.986767]]
2025-10-27T15:07:10.526Z,1761577630.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:10.529Z,1761577630.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:10.544Z,1761577630.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 275.960693 m,
      bearing: 72.923057 deg,
      approach rate: -0.776978 m/s,
      LOS rate: -0.008882 deg/s,
      cmd heading: 76.449891 deg,
      new cmd heading: 76.439500 deg.

2025-10-27T15:07:10.544Z,1761577630.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334121 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:10.761Z,1761577630.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:10.934Z,1761577630.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238167,-0.958622,-0.155951],[0.971160,0.233210,0.049619],[-0.011197,-0.163271,0.986518]]
2025-10-27T15:07:10.997Z,1761577630.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:11.004Z,1761577631.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 275.603912 m,
      bearing: 72.917962 deg,
      approach rate: -0.762024 m/s,
      LOS rate: -0.010895 deg/s,
      cmd heading: 76.439502 deg,
      new cmd heading: 76.424199 deg.

2025-10-27T15:07:11.005Z,1761577631.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333854 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:11.012Z,1761577631.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:11.265Z,1761577631.265 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:11.343Z,1761577631.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237687,-0.958642,-0.156557],[0.971279,0.232737,0.049497],[-0.011013,-0.163825,0.986428]]
2025-10-27T15:07:11.361Z,1761577631.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:11.364Z,1761577631.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 275.294159 m,
      bearing: 72.913496 deg,
      approach rate: -0.850712 m/s,
      LOS rate: -0.012280 deg/s,
      cmd heading: 76.424196 deg,
      new cmd heading: 76.410782 deg.

2025-10-27T15:07:11.365Z,1761577631.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333620 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:11.516Z,1761577631.516 [DAT](INFO): DAT read: Rx Time:15:07:09.9190

2025-10-27T15:07:11.516Z,1761577631.516 [DAT](INFO): Rx dataTimestamp_ set to:1761577631.516168
2025-10-27T15:07:11.517Z,1761577631.517 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:11.753Z,1761577631.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236992,-0.958981,-0.155535],[0.971453,0.232167,0.048753],[-0.010643,-0.162649,0.986627]]
2025-10-27T15:07:11.769Z,1761577631.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:11.845Z,1761577631.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.48 m.
2025-10-27T15:07:11.852Z,1761577631.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.476349 m,
      nav range: 274.934875 m,
      bearing: 72.908250 deg,
      approach rate: -0.741941 m/s,
      LOS rate: -0.010847 deg/s,
      cmd heading: 76.410781 deg,
      new cmd heading: 76.395024 deg.

2025-10-27T15:07:11.853Z,1761577631.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333345 target range: 302.476349 and range: 303.90 m.
2025-10-27T15:07:12.026Z,1761577632.026 [DAT](INFO): DAT read: 15:07:09.9190 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 110, 0.09, 1.444,-0.057, 1.801, 1.330, PHS= 0.216,-1.342, 0.427, RAW= 156.3,   8.4, CAL= 155.9,   8.9, ROT= 354.1,  -8.9

2025-10-27T15:07:12.032Z,1761577632.032 [DAT](INFO): got valid direction response:
 15:07:09.9190 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 110, 0.09, 1.444,-0.057, 1.801, 1.330, PHS= 0.216,-1.342, 0.427, RAW= 156.3,   8.4, CAL= 155.9,   8.9, ROT= 354.1,  -8.9

2025-10-27T15:07:12.033Z,1761577632.033 [DAT](INFO): DAT read: Bearing 227.2,  -8.0 (Local)

2025-10-27T15:07:12.034Z,1761577632.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.2,  -8.0 (Local)

2025-10-27T15:07:12.037Z,1761577632.037 [DAT](INFO): DAT read: Range 11 to 50 : 293.4 m  (Round-trip  391.3 ms) speed  0.4 m/s

2025-10-27T15:07:12.038Z,1761577632.038 [DAT](INFO): DAT read: user:936>Tx time:15:07:11.0236

2025-10-27T15:07:12.038Z,1761577632.038 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:12.048Z,1761577632.048 [DAT](INFO): direction in FSK: [0.982726,-0.101555,0.154710]
2025-10-27T15:07:12.048Z,1761577632.048 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:12.064Z,1761577632.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:12.064Z,1761577632.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:12.264Z,1761577632.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234572,-0.959787,-0.154222],[0.972052,0.230032,0.046912],[-0.009549,-0.160916,0.986922]]
2025-10-27T15:07:12.272Z,1761577632.272 [DAT](INFO): DAT read: 

2025-10-27T15:07:12.272Z,1761577632.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:12.337Z,1761577632.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.399994 m,
      deltaT: 16.640044 s,
      deltaX: -10.500000 m,
      approachRate: -0.631008 m/s,
      rangeRepo size: 4

2025-10-27T15:07:12.342Z,1761577632.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 292.028717 m,
      bearing: 72.056265 deg,
      lat: 36.779233 deg,
      lon: -121.859189 deg,
      deltaT: 16.640044 s,
      deltaX: -10.447632 m,
      approachRate: -0.627861 m/s,
      posRepo size: 4

2025-10-27T15:07:12.342Z,1761577632.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.03 m.
2025-10-27T15:07:12.357Z,1761577632.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.028717 m,
      nav range: 283.164459 m,
      bearing: 72.774227 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010847 deg/s,
      cmd heading: 76.395024 deg,
      new cmd heading: 76.379030 deg.

2025-10-27T15:07:12.358Z,1761577632.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333066 target range: 292.028717 and range: 293.40 m.
2025-10-27T15:07:12.524Z,1761577632.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:12.703Z,1761577632.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233188,-0.960262,-0.153366],[0.972389,0.228780,0.046041],[-0.009124,-0.159867,0.987096]]
2025-10-27T15:07:12.721Z,1761577632.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:12.748Z,1761577632.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.03 m.
2025-10-27T15:07:12.757Z,1761577632.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.028717 m,
      nav range: 282.847321 m,
      bearing: 72.768819 deg,
      approach rate: -0.780926 m/s,
      LOS rate: -0.013330 deg/s,
      cmd heading: 76.379028 deg,
      new cmd heading: 76.362788 deg.

2025-10-27T15:07:12.764Z,1761577632.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332782 target range: 292.028717 and range: 293.40 m.
2025-10-27T15:07:12.776Z,1761577632.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:13.028Z,1761577633.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:13.108Z,1761577633.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232163,-0.960499,-0.153433],[0.972638,0.227838,0.045442],[-0.008689,-0.159784,0.987114]]
2025-10-27T15:07:13.165Z,1761577633.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.03 m.
2025-10-27T15:07:13.172Z,1761577633.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.028717 m,
      nav range: 282.505066 m,
      bearing: 72.763777 deg,
      approach rate: -0.811476 m/s,
      LOS rate: -0.011971 deg/s,
      cmd heading: 76.362785 deg,
      new cmd heading: 76.347639 deg.

2025-10-27T15:07:13.176Z,1761577633.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332518 target range: 292.028717 and range: 293.40 m.
2025-10-27T15:07:13.280Z,1761577633.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:13.514Z,1761577633.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230695,-0.960825,-0.153608],[0.972992,0.226479,0.044647],[-0.008109,-0.159759,0.987123]]
2025-10-27T15:07:13.532Z,1761577633.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:13.534Z,1761577633.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.03 m.
2025-10-27T15:07:13.554Z,1761577633.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.028717 m,
      nav range: 282.191223 m,
      bearing: 72.759045 deg,
      approach rate: -0.849896 m/s,
      LOS rate: -0.012827 deg/s,
      cmd heading: 76.347636 deg,
      new cmd heading: 76.333426 deg.

2025-10-27T15:07:13.560Z,1761577633.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332270 target range: 292.028717 and range: 293.40 m.
2025-10-27T15:07:13.784Z,1761577633.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:14.011Z,1761577634.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.03 m.
2025-10-27T15:07:14.014Z,1761577634.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.028717 m,
      nav range: 281.830383 m,
      bearing: 72.753592 deg,
      approach rate: -0.762491 m/s,
      LOS rate: -0.011538 deg/s,
      cmd heading: 76.333422 deg,
      new cmd heading: 76.317042 deg.

2025-10-27T15:07:14.019Z,1761577634.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331984 target range: 292.028717 and range: 293.40 m.
2025-10-27T15:07:14.036Z,1761577634.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:14.288Z,1761577634.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:14.331Z,1761577634.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228550,-0.961432,-0.153011],[0.973510,0.224646,0.042573],[-0.006558,-0.158688,0.987307]]
2025-10-27T15:07:14.377Z,1761577634.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.03 m.
2025-10-27T15:07:14.380Z,1761577634.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.028717 m,
      nav range: 281.519135 m,
      bearing: 72.750392 deg,
      approach rate: -0.840722 m/s,
      LOS rate: -0.008653 deg/s,
      cmd heading: 76.317044 deg,
      new cmd heading: 76.307433 deg.

2025-10-27T15:07:14.381Z,1761577634.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331816 target range: 292.028717 and range: 293.40 m.
2025-10-27T15:07:14.540Z,1761577634.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:14.783Z,1761577634.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:14.785Z,1761577634.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.03 m.
2025-10-27T15:07:14.788Z,1761577634.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.028717 m,
      nav range: 281.200623 m,
      bearing: 72.747110 deg,
      approach rate: -0.780665 m/s,
      LOS rate: -0.008053 deg/s,
      cmd heading: 76.307433 deg,
      new cmd heading: 76.297577 deg.

2025-10-27T15:07:14.789Z,1761577634.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331644 target range: 292.028717 and range: 293.40 m.
2025-10-27T15:07:14.792Z,1761577634.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:15.044Z,1761577635.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:15.141Z,1761577635.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227317,-0.961813,-0.152456],[0.973807,0.223665,0.040922],[-0.005260,-0.157765,0.987463]]
2025-10-27T15:07:15.186Z,1761577635.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.03 m.
2025-10-27T15:07:15.188Z,1761577635.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.028717 m,
      nav range: 280.889801 m,
      bearing: 72.745236 deg,
      approach rate: -0.776671 m/s,
      LOS rate: -0.004687 deg/s,
      cmd heading: 76.297578 deg,
      new cmd heading: 76.291950 deg.

2025-10-27T15:07:15.189Z,1761577635.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331546 target range: 292.028717 and range: 293.40 m.
2025-10-27T15:07:15.297Z,1761577635.297 [DAT](INFO): DAT read: Rx Time:15:07:13.8148

2025-10-27T15:07:15.298Z,1761577635.298 [DAT](INFO): Rx dataTimestamp_ set to:1761577635.296999
2025-10-27T15:07:15.298Z,1761577635.298 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:15.548Z,1761577635.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:15.553Z,1761577635.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227604,-0.961684,-0.152837],[0.973740,0.223953,0.040931],[-0.005134,-0.158140,0.987403]]
2025-10-27T15:07:15.591Z,1761577635.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.03 m.
2025-10-27T15:07:15.594Z,1761577635.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.028717 m,
      nav range: 280.580963 m,
      bearing: 72.743390 deg,
      approach rate: -0.776724 m/s,
      LOS rate: -0.004649 deg/s,
      cmd heading: 76.291949 deg,
      new cmd heading: 76.286404 deg.

2025-10-27T15:07:15.599Z,1761577635.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331449 target range: 292.028717 and range: 293.40 m.
2025-10-27T15:07:15.806Z,1761577635.806 [DAT](INFO): DAT read: 15:07:13.8148 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 162,-0.03, 3.069, 1.541,-2.856, 2.898, PHS= 0.274,-1.312, 0.485, RAW= 156.2,   6.6, CAL= 155.5,   6.6, ROT= 354.5,  -6.6

2025-10-27T15:07:15.807Z,1761577635.807 [DAT](INFO): got valid direction response:
 15:07:13.8148 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 162,-0.03, 3.069, 1.541,-2.856, 2.898, PHS= 0.274,-1.312, 0.485, RAW= 156.2,   6.6, CAL= 155.5,   6.6, ROT= 354.5,  -6.6

2025-10-27T15:07:15.808Z,1761577635.808 [DAT](INFO): DAT read: Bearing 224.9,  -7.1 (Local)

2025-10-27T15:07:15.808Z,1761577635.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.9,  -7.1 (Local)

2025-10-27T15:07:15.810Z,1761577635.810 [DAT](INFO): DAT read: Range 11 to 50 : 290.3 m  (Round-trip  387.1 ms) speed  0.4 m/s

2025-10-27T15:07:15.811Z,1761577635.811 [DAT](INFO): DAT read: Tx time:15:07:14.8751

2025-10-27T15:07:15.811Z,1761577635.811 [DAT](INFO): Ping request sent.
2025-10-27T15:07:15.811Z,1761577635.811 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:07:15.811Z,1761577635.811 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:15.812Z,1761577635.812 [DAT](INFO): direction in FSK: [0.988799,-0.095211,0.114937]
2025-10-27T15:07:15.813Z,1761577635.813 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:15.813Z,1761577635.813 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:15.817Z,1761577635.817 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:15.817Z,1761577635.817 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:16.022Z,1761577636.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228574,-0.961248,-0.154131],[0.973513,0.224859,0.041363],[-0.005102,-0.159503,0.987184]]
2025-10-27T15:07:16.104Z,1761577636.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 290.299988 m,
      deltaT: 3.779937 s,
      deltaX: -3.100006 m,
      approachRate: -0.820121 m/s,
      rangeRepo size: 4

2025-10-27T15:07:16.106Z,1761577636.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.942169 m,
      bearing: 72.414005 deg,
      lat: 36.779265 deg,
      lon: -121.859147 deg,
      deltaT: 3.779937 s,
      deltaX: -3.086548 m,
      approachRate: -0.816561 m/s,
      posRepo size: 4

2025-10-27T15:07:16.107Z,1761577636.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-10-27T15:07:16.113Z,1761577636.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.942169 m,
      nav range: 284.888733 m,
      bearing: 72.295916 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004649 deg/s,
      cmd heading: 76.286403 deg,
      new cmd heading: 76.279210 deg.

2025-10-27T15:07:16.114Z,1761577636.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331323 target range: 288.942169 and range: 290.30 m.
2025-10-27T15:07:16.441Z,1761577636.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229764,-0.960658,-0.156026],[0.973232,0.225921,0.042183],[-0.005274,-0.161541,0.986852]]
2025-10-27T15:07:16.459Z,1761577636.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-10-27T15:07:16.462Z,1761577636.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.942169 m,
      nav range: 284.613983 m,
      bearing: 72.294877 deg,
      approach rate: -0.763054 m/s,
      LOS rate: -0.002888 deg/s,
      cmd heading: 76.279211 deg,
      new cmd heading: 76.276091 deg.

2025-10-27T15:07:16.483Z,1761577636.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331269 target range: 288.942169 and range: 290.30 m.
2025-10-27T15:07:16.834Z,1761577636.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231314,-0.959961,-0.158017],[0.972862,0.227270,0.043454],[-0.005801,-0.163780,0.986480]]
2025-10-27T15:07:16.850Z,1761577636.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:16.868Z,1761577636.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-10-27T15:07:16.879Z,1761577636.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.942169 m,
      nav range: 284.327209 m,
      bearing: 72.293882 deg,
      approach rate: -0.700874 m/s,
      LOS rate: -0.002433 deg/s,
      cmd heading: 76.276090 deg,
      new cmd heading: 76.273104 deg.

2025-10-27T15:07:16.880Z,1761577636.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331217 target range: 288.942169 and range: 290.30 m.
2025-10-27T15:07:17.060Z,1761577637.060 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:17.060Z,1761577637.060 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:17.060Z,1761577637.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:17.251Z,1761577637.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233107,-0.958982,-0.161289],[0.972428,0.228744,0.045375],[-0.006620,-0.167419,0.985864]]
2025-10-27T15:07:17.312Z,1761577637.312 [DAT](INFO): DAT read: user:937>

2025-10-27T15:07:17.313Z,1761577637.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501562
2025-10-27T15:07:17.314Z,1761577637.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-10-27T15:07:17.325Z,1761577637.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.942169 m,
      nav range: 284.026855 m,
      bearing: 72.294105 deg,
      approach rate: -0.673168 m/s,
      LOS rate: 0.000499 deg/s,
      cmd heading: 76.273105 deg,
      new cmd heading: 76.273773 deg.

2025-10-27T15:07:17.326Z,1761577637.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331228 target range: 288.942169 and range: 290.30 m.
2025-10-27T15:07:17.565Z,1761577637.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754014
2025-10-27T15:07:17.641Z,1761577637.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234755,-0.958208,-0.163487],[0.972026,0.230114,0.047040],[-0.007453,-0.169957,0.985423]]
2025-10-27T15:07:17.671Z,1761577637.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-10-27T15:07:17.674Z,1761577637.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.942169 m,
      nav range: 283.768494 m,
      bearing: 72.294382 deg,
      approach rate: -0.724646 m/s,
      LOS rate: 0.000779 deg/s,
      cmd heading: 76.273774 deg,
      new cmd heading: 76.274608 deg.

2025-10-27T15:07:17.675Z,1761577637.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331243 target range: 288.942169 and range: 290.30 m.
2025-10-27T15:07:17.816Z,1761577637.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004742
2025-10-27T15:07:18.066Z,1761577638.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236648,-0.957606,-0.164282],[0.971561,0.231807,0.048319],[-0.008189,-0.171045,0.985229]]
2025-10-27T15:07:18.068Z,1761577638.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256946
2025-10-27T15:07:18.121Z,1761577638.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-10-27T15:07:18.124Z,1761577638.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.942169 m,
      nav range: 283.457672 m,
      bearing: 72.294592 deg,
      approach rate: -0.690790 m/s,
      LOS rate: 0.000467 deg/s,
      cmd heading: 76.274608 deg,
      new cmd heading: 76.275238 deg.

2025-10-27T15:07:18.125Z,1761577638.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331254 target range: 288.942169 and range: 290.30 m.
2025-10-27T15:07:18.321Z,1761577638.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509512
2025-10-27T15:07:18.449Z,1761577638.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237976,-0.957412,-0.163492],[0.971231,0.233040,0.049022],[-0.008834,-0.170455,0.985326]]
2025-10-27T15:07:18.490Z,1761577638.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-10-27T15:07:18.493Z,1761577638.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.942169 m,
      nav range: 283.214874 m,
      bearing: 72.294825 deg,
      approach rate: -0.657566 m/s,
      LOS rate: 0.000630 deg/s,
      cmd heading: 76.275236 deg,
      new cmd heading: 76.275933 deg.

2025-10-27T15:07:18.494Z,1761577638.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331266 target range: 288.942169 and range: 290.30 m.
2025-10-27T15:07:18.572Z,1761577638.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760973
2025-10-27T15:07:18.824Z,1761577638.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012817
2025-10-27T15:07:18.855Z,1761577638.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239028,-0.957125,-0.163638],[0.970968,0.233983,0.049732],[-0.009311,-0.170774,0.985266]]
2025-10-27T15:07:18.872Z,1761577638.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:18.874Z,1761577638.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-10-27T15:07:18.877Z,1761577638.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.942169 m,
      nav range: 282.937317 m,
      bearing: 72.295151 deg,
      approach rate: -0.722471 m/s,
      LOS rate: 0.000851 deg/s,
      cmd heading: 76.275933 deg,
      new cmd heading: 76.276913 deg.

2025-10-27T15:07:18.878Z,1761577638.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331283 target range: 288.942169 and range: 290.30 m.
2025-10-27T15:07:18.900Z,1761577638.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:07:19.077Z,1761577639.077 [DAT](INFO): DAT read: Rx Time:15:07:17.6637

2025-10-27T15:07:19.078Z,1761577639.078 [DAT](INFO): Rx dataTimestamp_ set to:1761577639.077528
2025-10-27T15:07:19.078Z,1761577639.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267296
2025-10-27T15:07:19.318Z,1761577639.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-10-27T15:07:19.328Z,1761577639.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516798
2025-10-27T15:07:19.337Z,1761577639.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.942169 m,
      nav range: 282.628662 m,
      bearing: 72.294220 deg,
      approach rate: -0.695626 m/s,
      LOS rate: -0.002102 deg/s,
      cmd heading: 76.276916 deg,
      new cmd heading: 76.274119 deg.

2025-10-27T15:07:19.338Z,1761577639.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331234 target range: 288.942169 and range: 290.30 m.
2025-10-27T15:07:19.593Z,1761577639.593 [DAT](INFO): DAT read: 15:07:17.6637 LVL= 31104, 32753, 31570, 32755, AGC= 63, IDX= 171, 0.13,-2.512, 2.279,-2.360,-2.923, PHS= 0.513,-1.036, 0.519, RAW= 150.2,   0.1, CAL= 149.1,  -0.5, ROT=   0.9,   0.5

2025-10-27T15:07:19.594Z,1761577639.594 [DAT](INFO): got valid direction response:
 15:07:17.6637 LVL= 31104, 32753, 31570, 32755, AGC= 63, IDX= 171, 0.13,-2.512, 2.279,-2.360,-2.923, PHS= 0.513,-1.036, 0.519, RAW= 150.2,   0.1, CAL= 149.1,  -0.5, ROT=   0.9,   0.5

2025-10-27T15:07:19.600Z,1761577639.600 [DAT](INFO): DAT read: Bearing 218.4,   0.6 (Local)

2025-10-27T15:07:19.601Z,1761577639.601 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.4,   0.6 (Local)

2025-10-27T15:07:19.622Z,1761577639.622 [DAT](INFO): DAT read: Range 11 to 50 : 288.3 m  (Round-trip  384.5 ms) speed  0.3 m/s

2025-10-27T15:07:19.631Z,1761577639.631 [DAT](INFO): DAT read: Tx time:15:07:18.7266

2025-10-27T15:07:19.631Z,1761577639.631 [DAT](INFO): Ping request sent.
2025-10-27T15:07:19.631Z,1761577639.631 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:07:19.632Z,1761577639.632 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:19.633Z,1761577639.633 [DAT](INFO): direction in FSK: [0.999839,0.015707,-0.008727]
2025-10-27T15:07:19.633Z,1761577639.633 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:19.633Z,1761577639.633 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:19.650Z,1761577639.650 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:19.650Z,1761577639.650 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:19.700Z,1761577639.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240461,-0.957452,-0.159575],[0.970616,0.235630,0.048823],[-0.009146,-0.166626,0.985978]]
2025-10-27T15:07:19.774Z,1761577639.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 288.299988 m,
      deltaT: 3.780801 s,
      deltaX: -2.000000 m,
      approachRate: -0.528988 m/s,
      rangeRepo size: 4

2025-10-27T15:07:19.791Z,1761577639.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 286.953217 m,
      bearing: 76.889874 deg,
      lat: 36.779265 deg,
      lon: -121.859125 deg,
      deltaT: 3.780801 s,
      deltaX: -1.988953 m,
      approachRate: -0.526066 m/s,
      posRepo size: 4

2025-10-27T15:07:19.792Z,1761577639.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.95 m.
2025-10-27T15:07:19.799Z,1761577639.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.953217 m,
      nav range: 284.179535 m,
      bearing: 72.411601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002102 deg/s,
      cmd heading: 76.274116 deg,
      new cmd heading: 76.271246 deg.

2025-10-27T15:07:19.800Z,1761577639.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331184 target range: 286.953217 and range: 288.30 m.
2025-10-27T15:07:19.904Z,1761577639.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:07:20.100Z,1761577640.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240706,-0.958073,-0.155428],[0.970559,0.236161,0.047352],[-0.008661,-0.162250,0.986712]]
2025-10-27T15:07:20.144Z,1761577640.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.95 m.
2025-10-27T15:07:20.146Z,1761577640.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.953217 m,
      nav range: 283.884918 m,
      bearing: 72.409599 deg,
      approach rate: -0.796918 m/s,
      LOS rate: -0.005421 deg/s,
      cmd heading: 76.271247 deg,
      new cmd heading: 76.265235 deg.

2025-10-27T15:07:20.148Z,1761577640.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331079 target range: 286.953217 and range: 288.30 m.
2025-10-27T15:07:20.502Z,1761577640.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240528,-0.958810,-0.151095],[0.970607,0.236264,0.045841],[-0.008254,-0.157680,0.987456]]
2025-10-27T15:07:20.529Z,1761577640.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.95 m.
2025-10-27T15:07:20.539Z,1761577640.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.953217 m,
      nav range: 283.611023 m,
      bearing: 72.407730 deg,
      approach rate: -0.709255 m/s,
      LOS rate: -0.004844 deg/s,
      cmd heading: 76.265237 deg,
      new cmd heading: 76.259625 deg.

2025-10-27T15:07:20.540Z,1761577640.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330981 target range: 286.953217 and range: 288.30 m.
2025-10-27T15:07:20.906Z,1761577640.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240477,-0.958879,-0.150741],[0.970621,0.236246,0.045645],[-0.008157,-0.157289,0.987519]]
2025-10-27T15:07:20.924Z,1761577640.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:20.926Z,1761577640.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.95 m.
2025-10-27T15:07:20.929Z,1761577640.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.953217 m,
      nav range: 283.329865 m,
      bearing: 72.405806 deg,
      approach rate: -0.708151 m/s,
      LOS rate: -0.004852 deg/s,
      cmd heading: 76.259622 deg,
      new cmd heading: 76.253843 deg.

2025-10-27T15:07:20.930Z,1761577640.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330881 target range: 286.953217 and range: 288.30 m.
2025-10-27T15:07:21.092Z,1761577641.092 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:21.092Z,1761577641.092 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:21.092Z,1761577641.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:21.310Z,1761577641.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240426,-0.958833,-0.151112],[0.970634,0.236201,0.045586],[-0.008017,-0.157635,0.987465]]
2025-10-27T15:07:21.344Z,1761577641.344 [DAT](INFO): DAT read: user:938>

2025-10-27T15:07:21.345Z,1761577641.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713218
2025-10-27T15:07:21.366Z,1761577641.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.95 m.
2025-10-27T15:07:21.372Z,1761577641.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.953217 m,
      nav range: 283.028778 m,
      bearing: 72.402959 deg,
      approach rate: -0.685060 m/s,
      LOS rate: -0.006483 deg/s,
      cmd heading: 76.253844 deg,
      new cmd heading: 76.245296 deg.

2025-10-27T15:07:21.373Z,1761577641.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330731 target range: 286.953217 and range: 288.30 m.
2025-10-27T15:07:21.597Z,1761577641.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965078
2025-10-27T15:07:21.713Z,1761577641.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240492,-0.958762,-0.151459],[0.970619,0.236274,0.045526],[-0.007862,-0.157958,0.987415]]
2025-10-27T15:07:21.762Z,1761577641.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.95 m.
2025-10-27T15:07:21.764Z,1761577641.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.953217 m,
      nav range: 282.733582 m,
      bearing: 72.400167 deg,
      approach rate: -0.745408 m/s,
      LOS rate: -0.007059 deg/s,
      cmd heading: 76.245292 deg,
      new cmd heading: 76.236905 deg.

2025-10-27T15:07:21.765Z,1761577641.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330585 target range: 286.953217 and range: 288.30 m.
2025-10-27T15:07:21.848Z,1761577641.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216666
2025-10-27T15:07:22.111Z,1761577642.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471026
2025-10-27T15:07:22.129Z,1761577642.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240040,-0.958804,-0.151905],[0.970734,0.235873,0.045153],[-0.007462,-0.158298,0.987363]]
2025-10-27T15:07:22.182Z,1761577642.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.95 m.
2025-10-27T15:07:22.196Z,1761577642.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.953217 m,
      nav range: 282.437378 m,
      bearing: 72.395705 deg,
      approach rate: -0.704266 m/s,
      LOS rate: -0.010620 deg/s,
      cmd heading: 76.236905 deg,
      new cmd heading: 76.223505 deg.

2025-10-27T15:07:22.197Z,1761577642.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330351 target range: 286.953217 and range: 288.30 m.
2025-10-27T15:07:22.352Z,1761577642.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720537
2025-10-27T15:07:22.538Z,1761577642.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239895,-0.958761,-0.152407],[0.970772,0.235759,0.044928],[-0.007144,-0.158730,0.987296]]
2025-10-27T15:07:22.564Z,1761577642.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.95 m.
2025-10-27T15:07:22.567Z,1761577642.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.953217 m,
      nav range: 282.146515 m,
      bearing: 72.391305 deg,
      approach rate: -0.760852 m/s,
      LOS rate: -0.011520 deg/s,
      cmd heading: 76.223504 deg,
      new cmd heading: 76.210292 deg.

2025-10-27T15:07:22.568Z,1761577642.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330121 target range: 286.953217 and range: 288.30 m.
2025-10-27T15:07:22.604Z,1761577642.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972557
2025-10-27T15:07:22.856Z,1761577642.856 [DAT](INFO): DAT read: Rx Time:15:07:21.5116

2025-10-27T15:07:22.857Z,1761577642.857 [DAT](INFO): Rx dataTimestamp_ set to:1761577642.856285
2025-10-27T15:07:22.857Z,1761577642.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225684
2025-10-27T15:07:22.937Z,1761577642.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239743,-0.958787,-0.152484],[0.970812,0.235654,0.044618],[-0.006846,-0.158730,0.987298]]
2025-10-27T15:07:22.958Z,1761577642.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:22.960Z,1761577642.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.95 m.
2025-10-27T15:07:22.963Z,1761577642.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.953217 m,
      nav range: 281.857788 m,
      bearing: 72.386919 deg,
      approach rate: -0.729219 m/s,
      LOS rate: -0.011088 deg/s,
      cmd heading: 76.210295 deg,
      new cmd heading: 76.197124 deg.

2025-10-27T15:07:22.964Z,1761577642.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.329891 target range: 286.953217 and range: 288.30 m.
2025-10-27T15:07:23.109Z,1761577643.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477449
2025-10-27T15:07:23.342Z,1761577643.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239727,-0.958821,-0.152292],[0.970817,0.235670,0.044426],[-0.006706,-0.158497,0.987337]]
2025-10-27T15:07:23.363Z,1761577643.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731147
2025-10-27T15:07:23.454Z,1761577643.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.95 m.
2025-10-27T15:07:23.468Z,1761577643.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.953217 m,
      nav range: 281.502991 m,
      bearing: 72.381952 deg,
      approach rate: -0.718768 m/s,
      LOS rate: -0.010076 deg/s,
      cmd heading: 76.197126 deg,
      new cmd heading: 76.182205 deg.

2025-10-27T15:07:23.469Z,1761577643.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.329630 target range: 286.953217 and range: 288.30 m.
2025-10-27T15:07:23.618Z,1761577643.618 [DAT](INFO): DAT read: 15:07:21.5116 LVL= 32752, 32753, 32754, 31011, AGC= 61, IDX= 151, 0.14,-0.313,-1.754,-0.177,-0.830, PHS= 0.619,-0.879, 0.609, RAW= 149.7,  -4.7, CAL= 149.4,  -5.9, ROT=   0.6,   5.9

2025-10-27T15:07:23.619Z,1761577643.619 [DAT](INFO): got valid direction response:
 15:07:21.5116 LVL= 32752, 32753, 32754, 31011, AGC= 61, IDX= 151, 0.14,-0.313,-1.754,-0.177,-0.830, PHS= 0.619,-0.879, 0.609, RAW= 149.7,  -4.7, CAL= 149.4,  -5.9, ROT=   0.6,   5.9

2025-10-27T15:07:23.620Z,1761577643.620 [DAT](INFO): DAT read: Bearing 213.3,   1.2 (Local)

2025-10-27T15:07:23.620Z,1761577643.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.3,   1.2 (Local)

2025-10-27T15:07:23.622Z,1761577643.622 [DAT](INFO): DAT read: Range 11 to 50 : 285.6 m  (Round-trip  380.8 ms) speed  0.4 m/s

2025-10-27T15:07:23.623Z,1761577643.623 [DAT](INFO): DAT read: Tx time:15:07:22.5750

2025-10-27T15:07:23.623Z,1761577643.623 [DAT](INFO): Ping request sent.
2025-10-27T15:07:23.623Z,1761577643.623 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:07:23.624Z,1761577643.624 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:23.625Z,1761577643.625 [DAT](INFO): direction in FSK: [0.994648,0.010416,-0.102793]
2025-10-27T15:07:23.625Z,1761577643.625 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:23.625Z,1761577643.625 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:23.629Z,1761577643.629 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:23.629Z,1761577643.629 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:23.774Z,1761577643.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239306,-0.958952,-0.152133],[0.970923,0.235306,0.044046],[-0.006440,-0.158250,0.987378]]
2025-10-27T15:07:23.827Z,1761577643.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 285.600006 m,
      deltaT: 4.031211 s,
      deltaX: -2.699982 m,
      approachRate: -0.669769 m/s,
      rangeRepo size: 4

2025-10-27T15:07:23.829Z,1761577643.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 284.273529 m,
      bearing: 75.809290 deg,
      lat: 36.779265 deg,
      lon: -121.859125 deg,
      deltaT: 4.031211 s,
      deltaX: -2.679688 m,
      approachRate: -0.664735 m/s,
      posRepo size: 4

2025-10-27T15:07:23.830Z,1761577643.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.27 m.
2025-10-27T15:07:23.837Z,1761577643.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.273529 m,
      nav range: 281.243347 m,
      bearing: 72.378286 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010076 deg/s,
      cmd heading: 76.182209 deg,
      new cmd heading: 76.171073 deg.

2025-10-27T15:07:23.838Z,1761577643.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.329436 target range: 284.273529 and range: 285.60 m.
2025-10-27T15:07:24.153Z,1761577644.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239357,-0.958802,-0.152997],[0.970911,0.235343,0.044102],[-0.006278,-0.159102,0.987242]]
2025-10-27T15:07:24.206Z,1761577644.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.27 m.
2025-10-27T15:07:24.213Z,1761577644.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.273529 m,
      nav range: 280.961426 m,
      bearing: 72.374130 deg,
      approach rate: -0.735611 m/s,
      LOS rate: -0.010853 deg/s,
      cmd heading: 76.171076 deg,
      new cmd heading: 76.158597 deg.

2025-10-27T15:07:24.213Z,1761577644.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.329218 target range: 284.273529 and range: 285.60 m.
2025-10-27T15:07:24.568Z,1761577644.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239260,-0.958902,-0.152517],[0.970936,0.235292,0.043825],[-0.006138,-0.158570,0.987329]]
2025-10-27T15:07:24.586Z,1761577644.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.27 m.
2025-10-27T15:07:24.594Z,1761577644.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.273529 m,
      nav range: 280.672913 m,
      bearing: 72.369863 deg,
      approach rate: -0.757829 m/s,
      LOS rate: -0.011221 deg/s,
      cmd heading: 76.158597 deg,
      new cmd heading: 76.145781 deg.

2025-10-27T15:07:24.595Z,1761577644.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328995 target range: 284.273529 and range: 285.60 m.
2025-10-27T15:07:24.958Z,1761577644.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239591,-0.958988,-0.151456],[0.970853,0.235625,0.043881],[-0.006394,-0.157555,0.987490]]
2025-10-27T15:07:24.974Z,1761577644.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:24.977Z,1761577644.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.27 m.
2025-10-27T15:07:24.980Z,1761577644.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.273529 m,
      nav range: 280.389008 m,
      bearing: 72.365675 deg,
      approach rate: -0.726680 m/s,
      LOS rate: -0.010730 deg/s,
      cmd heading: 76.145783 deg,
      new cmd heading: 76.133207 deg.

2025-10-27T15:07:24.981Z,1761577644.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328775 target range: 284.273529 and range: 285.60 m.
2025-10-27T15:07:25.128Z,1761577645.128 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:25.128Z,1761577645.128 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:25.129Z,1761577645.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:25.362Z,1761577645.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240593,-0.958994,-0.149818],[0.970602,0.236603,0.044176],[-0.006917,-0.156042,0.987726]]
2025-10-27T15:07:25.383Z,1761577645.383 [DAT](INFO): DAT read: user:939>

2025-10-27T15:07:25.384Z,1761577645.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760280
2025-10-27T15:07:25.414Z,1761577645.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.27 m.
2025-10-27T15:07:25.417Z,1761577645.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.273529 m,
      nav range: 280.067078 m,
      bearing: 72.361166 deg,
      approach rate: -0.736126 m/s,
      LOS rate: -0.010323 deg/s,
      cmd heading: 76.133209 deg,
      new cmd heading: 76.119666 deg.

2025-10-27T15:07:25.418Z,1761577645.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328539 target range: 284.273529 and range: 285.60 m.
2025-10-27T15:07:25.636Z,1761577645.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012559
2025-10-27T15:07:25.848Z,1761577645.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242028,-0.958720,-0.149262],[0.970238,0.237906,0.045154],[-0.007780,-0.155749,0.987766]]
2025-10-27T15:07:25.874Z,1761577645.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.27 m.
2025-10-27T15:07:25.877Z,1761577645.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.273529 m,
      nav range: 279.728851 m,
      bearing: 72.356520 deg,
      approach rate: -0.735482 m/s,
      LOS rate: -0.010115 deg/s,
      cmd heading: 76.119665 deg,
      new cmd heading: 76.105711 deg.

2025-10-27T15:07:25.878Z,1761577645.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328295 target range: 284.273529 and range: 285.60 m.
2025-10-27T15:07:25.888Z,1761577645.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264698
2025-10-27T15:07:26.143Z,1761577646.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519293
2025-10-27T15:07:26.254Z,1761577646.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242871,-0.958911,-0.146640],[0.970023,0.238779,0.045165],[-0.008294,-0.153213,0.988158]]
2025-10-27T15:07:26.304Z,1761577646.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.27 m.
2025-10-27T15:07:26.307Z,1761577646.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.273529 m,
      nav range: 279.406982 m,
      bearing: 72.353666 deg,
      approach rate: -0.748266 m/s,
      LOS rate: -0.006643 deg/s,
      cmd heading: 76.105711 deg,
      new cmd heading: 76.097138 deg.

2025-10-27T15:07:26.308Z,1761577646.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328146 target range: 284.273529 and range: 285.60 m.
2025-10-27T15:07:26.393Z,1761577646.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770062
2025-10-27T15:07:26.644Z,1761577646.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020599
2025-10-27T15:07:26.661Z,1761577646.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243453,-0.958766,-0.146620],[0.969875,0.239313,0.045518],[-0.008553,-0.153285,0.988145]]
2025-10-27T15:07:26.687Z,1761577646.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.27 m.
2025-10-27T15:07:26.690Z,1761577646.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.273529 m,
      nav range: 279.119568 m,
      bearing: 72.351147 deg,
      approach rate: -0.750928 m/s,
      LOS rate: -0.006588 deg/s,
      cmd heading: 76.097139 deg,
      new cmd heading: 76.089574 deg.

2025-10-27T15:07:26.691Z,1761577646.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328014 target range: 284.273529 and range: 285.60 m.
2025-10-27T15:07:26.896Z,1761577646.896 [DAT](INFO): DAT read: Rx Time:15:07:25.3562

2025-10-27T15:07:26.896Z,1761577646.896 [DAT](INFO): Rx dataTimestamp_ set to:1761577646.896115
2025-10-27T15:07:26.897Z,1761577646.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273608
2025-10-27T15:07:27.060Z,1761577647.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244348,-0.958169,-0.149017],[0.969644,0.239985,0.046874],[-0.009152,-0.155947,0.987723]]
2025-10-27T15:07:27.076Z,1761577647.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:27.078Z,1761577647.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.27 m.
2025-10-27T15:07:27.081Z,1761577647.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.273529 m,
      nav range: 278.826599 m,
      bearing: 72.348629 deg,
      approach rate: -0.748567 m/s,
      LOS rate: -0.006441 deg/s,
      cmd heading: 76.089571 deg,
      new cmd heading: 76.082008 deg.

2025-10-27T15:07:27.082Z,1761577647.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327882 target range: 284.273529 and range: 285.60 m.
2025-10-27T15:07:27.151Z,1761577647.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526992
2025-10-27T15:07:27.406Z,1761577647.406 [DAT](INFO): DAT read: 15:07:25.3562 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 164, 0.29,-2.251, 2.499,-1.927,-2.396, PHS= 0.247,-1.343, 0.425, RAW= 155.2,   8.0, CAL= 154.8,   8.4, ROT= 355.2,  -8.4

2025-10-27T15:07:27.407Z,1761577647.407 [DAT](INFO): got valid direction response:
 15:07:25.3562 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 164, 0.29,-2.251, 2.499,-1.927,-2.396, PHS= 0.247,-1.343, 0.425, RAW= 155.2,   8.0, CAL= 154.8,   8.4, ROT= 355.2,  -8.4

2025-10-27T15:07:27.408Z,1761577647.408 [DAT](INFO): DAT read: Bearing 226.5,  -6.5 (Local)

2025-10-27T15:07:27.408Z,1761577647.408 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.5,  -6.5 (Local)

2025-10-27T15:07:27.410Z,1761577647.410 [DAT](INFO): DAT read: Range 11 to 50 : 282.7 m  (Round-trip  377.0 ms) speed  0.4 m/s

2025-10-27T15:07:27.411Z,1761577647.411 [DAT](INFO): DAT read: user:940>Tx time:15:07:26.4235

2025-10-27T15:07:27.411Z,1761577647.411 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:27.412Z,1761577647.412 [DAT](INFO): direction in FSK: [0.985803,-0.082780,0.146083]
2025-10-27T15:07:27.412Z,1761577647.412 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:27.416Z,1761577647.416 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:27.416Z,1761577647.416 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:27.416Z,1761577647.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:27.608Z,1761577647.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 282.700012 m,
      deltaT: 3.788106 s,
      deltaX: -2.899994 m,
      approachRate: -0.765552 m/s,
      rangeRepo size: 4

2025-10-27T15:07:27.610Z,1761577647.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 281.386230 m,
      bearing: 72.436713 deg,
      lat: 36.779261 deg,
      lon: -121.859125 deg,
      deltaT: 3.788106 s,
      deltaX: -2.887299 m,
      approachRate: -0.762201 m/s,
      posRepo size: 4

2025-10-27T15:07:27.610Z,1761577647.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:27.617Z,1761577647.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 278.296143 m,
      bearing: 72.436875 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006441 deg/s,
      cmd heading: 76.082010 deg,
      new cmd heading: 76.071801 deg.

2025-10-27T15:07:27.618Z,1761577647.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327703 target range: 281.386230 and range: 282.70 m.
2025-10-27T15:07:27.652Z,1761577647.652 [DAT](INFO): DAT read: 

2025-10-27T15:07:27.652Z,1761577647.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028987
2025-10-27T15:07:27.879Z,1761577647.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244676,-0.957651,-0.151785],[0.969560,0.240143,0.047800],[-0.009326,-0.158860,0.987257]]
2025-10-27T15:07:27.904Z,1761577647.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280920
2025-10-27T15:07:27.905Z,1761577647.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:27.908Z,1761577647.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 278.049011 m,
      bearing: 72.434520 deg,
      approach rate: -0.827805 m/s,
      LOS rate: -0.007895 deg/s,
      cmd heading: 76.071799 deg,
      new cmd heading: 76.064728 deg.

2025-10-27T15:07:27.909Z,1761577647.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327580 target range: 281.386230 and range: 282.70 m.
2025-10-27T15:07:28.159Z,1761577648.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534942
2025-10-27T15:07:28.282Z,1761577648.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244564,-0.957220,-0.154657],[0.969587,0.239865,0.048637],[-0.009460,-0.161849,0.986770]]
2025-10-27T15:07:28.332Z,1761577648.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:28.335Z,1761577648.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 277.719269 m,
      bearing: 72.430312 deg,
      approach rate: -0.772294 m/s,
      LOS rate: -0.009867 deg/s,
      cmd heading: 76.064730 deg,
      new cmd heading: 76.052091 deg.

2025-10-27T15:07:28.336Z,1761577648.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327359 target range: 281.386230 and range: 282.70 m.
2025-10-27T15:07:28.409Z,1761577648.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785541
2025-10-27T15:07:28.660Z,1761577648.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036537
2025-10-27T15:07:28.685Z,1761577648.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243984,-0.957176,-0.155839],[0.969733,0.239243,0.048783],[-0.009411,-0.163025,0.986577]]
2025-10-27T15:07:28.704Z,1761577648.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:28.709Z,1761577648.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 277.433411 m,
      bearing: 72.426620 deg,
      approach rate: -0.768411 m/s,
      LOS rate: -0.009936 deg/s,
      cmd heading: 76.052094 deg,
      new cmd heading: 76.041005 deg.

2025-10-27T15:07:28.712Z,1761577648.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327166 target range: 281.386230 and range: 282.70 m.
2025-10-27T15:07:28.912Z,1761577648.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288606
2025-10-27T15:07:29.093Z,1761577649.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243708,-0.957430,-0.154710],[0.969800,0.238976,0.048769],[-0.009721,-0.161923,0.986755]]
2025-10-27T15:07:29.112Z,1761577649.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:29.115Z,1761577649.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:29.122Z,1761577649.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 277.118805 m,
      bearing: 72.422530 deg,
      approach rate: -0.767019 m/s,
      LOS rate: -0.009983 deg/s,
      cmd heading: 76.041008 deg,
      new cmd heading: 76.028724 deg.

2025-10-27T15:07:29.123Z,1761577649.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326952 target range: 281.386230 and range: 282.70 m.
2025-10-27T15:07:29.167Z,1761577649.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542760
2025-10-27T15:07:29.420Z,1761577649.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796503
2025-10-27T15:07:29.494Z,1761577649.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243251,-0.957737,-0.153521],[0.969912,0.238549,0.048628],[-0.009950,-0.160731,0.986948]]
2025-10-27T15:07:29.538Z,1761577649.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:29.541Z,1761577649.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 276.781403 m,
      bearing: 72.418945 deg,
      approach rate: -0.796694 m/s,
      LOS rate: -0.008474 deg/s,
      cmd heading: 76.028728 deg,
      new cmd heading: 76.017961 deg.

2025-10-27T15:07:29.542Z,1761577649.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326764 target range: 281.386230 and range: 282.70 m.
2025-10-27T15:07:29.668Z,1761577649.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044599
2025-10-27T15:07:29.899Z,1761577649.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242160,-0.958350,-0.151408],[0.970185,0.237571,0.047972],[-0.010004,-0.158511,0.987307]]
2025-10-27T15:07:29.920Z,1761577649.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296601
2025-10-27T15:07:29.925Z,1761577649.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:29.928Z,1761577649.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 276.475159 m,
      bearing: 72.415613 deg,
      approach rate: -0.791786 m/s,
      LOS rate: -0.008623 deg/s,
      cmd heading: 76.017963 deg,
      new cmd heading: 76.007957 deg.

2025-10-27T15:07:29.929Z,1761577649.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326589 target range: 281.386230 and range: 282.70 m.
2025-10-27T15:07:30.175Z,1761577650.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550817
2025-10-27T15:07:30.301Z,1761577650.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241020,-0.958632,-0.151438],[0.970472,0.236507,0.047416],[-0.009638,-0.158394,0.987329]]
2025-10-27T15:07:30.358Z,1761577650.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:30.360Z,1761577650.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 276.146118 m,
      bearing: 72.413123 deg,
      approach rate: -0.760395 m/s,
      LOS rate: -0.005761 deg/s,
      cmd heading: 76.007957 deg,
      new cmd heading: 76.000478 deg.

2025-10-27T15:07:30.361Z,1761577650.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326459 target range: 281.386230 and range: 282.70 m.
2025-10-27T15:07:30.424Z,1761577650.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800878
2025-10-27T15:07:30.676Z,1761577650.676 [DAT](INFO): DAT read: Rx Time:15:07:29.2021

2025-10-27T15:07:30.676Z,1761577650.676 [DAT](INFO): Rx dataTimestamp_ set to:1761577650.676109
2025-10-27T15:07:30.677Z,1761577650.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053590
2025-10-27T15:07:30.745Z,1761577650.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240149,-0.959019,-0.150371],[0.970686,0.235660,0.047260],[-0.009887,-0.157312,0.987499]]
2025-10-27T15:07:30.797Z,1761577650.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:30.800Z,1761577650.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 275.793579 m,
      bearing: 72.410383 deg,
      approach rate: -0.802811 m/s,
      LOS rate: -0.006248 deg/s,
      cmd heading: 76.000478 deg,
      new cmd heading: 75.992247 deg.

2025-10-27T15:07:30.801Z,1761577650.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326315 target range: 281.386230 and range: 282.70 m.
2025-10-27T15:07:30.929Z,1761577650.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305277
2025-10-27T15:07:31.155Z,1761577651.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239384,-0.959180,-0.150560],[0.970872,0.234856,0.047436],[-0.010140,-0.157530,0.987462]]
2025-10-27T15:07:31.214Z,1761577651.214 [DAT](INFO): DAT read: 15:07:29.2021 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 180, 0.06, 0.634,-0.897, 1.018, 0.526, PHS= 0.210,-1.378, 0.448, RAW= 156.9,   8.4, CAL= 156.5,   8.8, ROT= 353.5,  -8.8

2025-10-27T15:07:31.235Z,1761577651.235 [DAT](INFO): got valid direction response:
 15:07:29.2021 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 180, 0.06, 0.634,-0.897, 1.018, 0.526, PHS= 0.210,-1.378, 0.448, RAW= 156.9,   8.4, CAL= 156.5,   8.8, ROT= 353.5,  -8.8

2025-10-27T15:07:31.236Z,1761577651.236 [DAT](INFO): DAT read: Bearing 226.4,  -8.5 (Local)

2025-10-27T15:07:31.236Z,1761577651.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.4,  -8.5 (Local)

2025-10-27T15:07:31.238Z,1761577651.238 [DAT](INFO): DAT read: Range 11 to 50 : 280.8 m  (Round-trip  374.5 ms) speed  0.8 m/s

2025-10-27T15:07:31.247Z,1761577651.247 [DAT](INFO): DAT read: user:941>Tx time:15:07:30.2735

2025-10-27T15:07:31.248Z,1761577651.248 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:31.249Z,1761577651.249 [DAT](INFO): direction in FSK: [0.981876,-0.111871,0.152986]
2025-10-27T15:07:31.249Z,1761577651.249 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:31.255Z,1761577651.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:31.258Z,1761577651.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 280.799988 m,
      deltaT: 3.781355 s,
      deltaX: -1.900024 m,
      approachRate: -0.502472 m/s,
      rangeRepo size: 4

2025-10-27T15:07:31.258Z,1761577651.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:31.260Z,1761577651.260 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:31.261Z,1761577651.261 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:31.261Z,1761577651.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:31.265Z,1761577651.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 275.448181 m,
      bearing: 72.407635 deg,
      approach rate: -0.750289 m/s,
      LOS rate: -0.005977 deg/s,
      cmd heading: 75.992248 deg,
      new cmd heading: 75.983994 deg.

2025-10-27T15:07:31.266Z,1761577651.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326171 target range: 281.386230 and range: 280.80 m.
2025-10-27T15:07:31.432Z,1761577651.432 [DAT](INFO): DAT read: 

2025-10-27T15:07:31.433Z,1761577651.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809283
2025-10-27T15:07:31.575Z,1761577651.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238762,-0.959399,-0.150151],[0.971022,0.234211,0.047564],[-0.010465,-0.157157,0.987518]]
2025-10-27T15:07:31.657Z,1761577651.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:31.660Z,1761577651.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 275.105530 m,
      bearing: 72.405263 deg,
      approach rate: -0.856130 m/s,
      LOS rate: -0.005935 deg/s,
      cmd heading: 75.983997 deg,
      new cmd heading: 75.976871 deg.

2025-10-27T15:07:31.661Z,1761577651.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326047 target range: 281.386230 and range: 280.80 m.
2025-10-27T15:07:31.684Z,1761577651.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060636
2025-10-27T15:07:31.936Z,1761577651.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313034
2025-10-27T15:07:31.986Z,1761577651.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238168,-0.959364,-0.151318],[0.971163,0.233498,0.048180],[-0.010889,-0.158429,0.987310]]
2025-10-27T15:07:32.012Z,1761577652.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:32.014Z,1761577652.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 274.822632 m,
      bearing: 72.403264 deg,
      approach rate: -0.798463 m/s,
      LOS rate: -0.005648 deg/s,
      cmd heading: 75.976873 deg,
      new cmd heading: 75.970870 deg.

2025-10-27T15:07:32.015Z,1761577652.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325942 target range: 281.386230 and range: 280.80 m.
2025-10-27T15:07:32.188Z,1761577652.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565003
2025-10-27T15:07:32.382Z,1761577652.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237619,-0.959444,-0.151672],[0.971295,0.232902,0.048406],[-0.011118,-0.158820,0.987245]]
2025-10-27T15:07:32.426Z,1761577652.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:32.428Z,1761577652.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 274.505829 m,
      bearing: 72.403084 deg,
      approach rate: -0.765343 m/s,
      LOS rate: -0.000435 deg/s,
      cmd heading: 75.970869 deg,
      new cmd heading: 75.970329 deg.

2025-10-27T15:07:32.429Z,1761577652.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325932 target range: 281.386230 and range: 280.80 m.
2025-10-27T15:07:32.440Z,1761577652.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816654
2025-10-27T15:07:32.692Z,1761577652.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068642
2025-10-27T15:07:32.786Z,1761577652.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238093,-0.959257,-0.152108],[0.971172,0.233248,0.049204],[-0.011721,-0.159438,0.987138]]
2025-10-27T15:07:32.805Z,1761577652.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:32.808Z,1761577652.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 274.215088 m,
      bearing: 72.402949 deg,
      approach rate: -0.765700 m/s,
      LOS rate: -0.000357 deg/s,
      cmd heading: 75.970329 deg,
      new cmd heading: 75.969923 deg.

2025-10-27T15:07:32.809Z,1761577652.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325925 target range: 281.386230 and range: 280.80 m.
2025-10-27T15:07:32.944Z,1761577652.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320476
2025-10-27T15:07:33.199Z,1761577653.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575204
2025-10-27T15:07:33.244Z,1761577653.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238625,-0.959201,-0.151626],[0.971031,0.233665,0.049993],[-0.012523,-0.159163,0.987173]]
2025-10-27T15:07:33.295Z,1761577653.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:33.297Z,1761577653.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:33.300Z,1761577653.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 273.861938 m,
      bearing: 72.403358 deg,
      approach rate: -0.718021 m/s,
      LOS rate: 0.000832 deg/s,
      cmd heading: 75.969927 deg,
      new cmd heading: 75.971154 deg.

2025-10-27T15:07:33.301Z,1761577653.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325947 target range: 281.386230 and range: 280.80 m.
2025-10-27T15:07:33.448Z,1761577653.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824535
2025-10-27T15:07:33.623Z,1761577653.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239006,-0.959062,-0.151909],[0.970927,0.233895,0.050937],[-0.013321,-0.159667,0.987081]]
2025-10-27T15:07:33.645Z,1761577653.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:33.648Z,1761577653.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 273.614258 m,
      bearing: 72.403665 deg,
      approach rate: -0.711550 m/s,
      LOS rate: 0.000885 deg/s,
      cmd heading: 75.971156 deg,
      new cmd heading: 75.972080 deg.

2025-10-27T15:07:33.649Z,1761577653.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325963 target range: 281.386230 and range: 280.80 m.
2025-10-27T15:07:33.701Z,1761577653.701 [DAT](INFO): Reached modem response timeout
2025-10-27T15:07:33.701Z,1761577653.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:33.702Z,1761577653.702 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:33.952Z,1761577653.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:34.020Z,1761577654.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240210,-0.958481,-0.153663],[0.970613,0.234798,0.052723],[-0.014455,-0.161812,0.986716]]
2025-10-27T15:07:34.044Z,1761577654.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:34.046Z,1761577654.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 273.325226 m,
      bearing: 72.404100 deg,
      approach rate: -0.725458 m/s,
      LOS rate: 0.001093 deg/s,
      cmd heading: 75.972078 deg,
      new cmd heading: 75.973384 deg.

2025-10-27T15:07:34.047Z,1761577654.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325986 target range: 281.386230 and range: 280.80 m.
2025-10-27T15:07:34.206Z,1761577654.206 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:34.422Z,1761577654.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241245,-0.958198,-0.153810],[0.970341,0.235636,0.053986],[-0.015486,-0.162272,0.986625]]
2025-10-27T15:07:34.456Z,1761577654.456 [DAT](INFO): DAT read: Rx Time:15:07:33.0477

2025-10-27T15:07:34.456Z,1761577654.456 [DAT](INFO): Rx dataTimestamp_ set to:1761577654.456195
2025-10-27T15:07:34.457Z,1761577654.457 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:34.469Z,1761577654.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:34.472Z,1761577654.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 273.031036 m,
      bearing: 72.405881 deg,
      approach rate: -0.690894 m/s,
      LOS rate: 0.004186 deg/s,
      cmd heading: 75.973383 deg,
      new cmd heading: 75.978730 deg.

2025-10-27T15:07:34.473Z,1761577654.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326079 target range: 281.386230 and range: 280.80 m.
2025-10-27T15:07:34.708Z,1761577654.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:07:34.826Z,1761577654.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242487,-0.957906,-0.153673],[0.970011,0.236664,0.055400],[-0.016699,-0.162498,0.986568]]
2025-10-27T15:07:34.844Z,1761577654.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.39 m.
2025-10-27T15:07:34.848Z,1761577654.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.386230 m,
      nav range: 272.772034 m,
      bearing: 72.407522 deg,
      approach rate: -0.690851 m/s,
      LOS rate: 0.004380 deg/s,
      cmd heading: 75.978731 deg,
      new cmd heading: 75.983657 deg.

2025-10-27T15:07:34.849Z,1761577654.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326165 target range: 281.386230 and range: 280.80 m.
2025-10-27T15:07:34.982Z,1761577654.982 [DAT](INFO): DAT read: 15:07:33.0477 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 395, 0.06, 1.406, 0.158, 1.592, 0.876, PHS= 0.633,-0.673, 0.672, RAW= 151.5,  -9.6, CAL= 152.1, -11.3, ROT= 357.9,  11.3

2025-10-27T15:07:34.984Z,1761577654.984 [DAT](INFO): got valid direction response:
 15:07:33.0477 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 395, 0.06, 1.406, 0.158, 1.592, 0.876, PHS= 0.633,-0.673, 0.672, RAW= 151.5,  -9.6, CAL= 152.1, -11.3, ROT= 357.9,  11.3

2025-10-27T15:07:34.985Z,1761577654.985 [DAT](INFO): DAT read: Bearing 207.0,  -1.3 (Local)

2025-10-27T15:07:34.985Z,1761577654.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.0,  -1.3 (Local)

2025-10-27T15:07:34.986Z,1761577654.986 [DAT](INFO): DAT read: Range 11 to 50 : 277.6 m  (Round-trip  370.2 ms) speed  0.4 m/s

2025-10-27T15:07:34.988Z,1761577654.988 [DAT](INFO): DAT read: user:942>

2025-10-27T15:07:34.989Z,1761577654.989 [DAT](INFO): DAT read: Tx time:15:07:34.1234

2025-10-27T15:07:34.989Z,1761577654.989 [DAT](INFO): Ping request sent.
2025-10-27T15:07:34.989Z,1761577654.989 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:07:34.990Z,1761577654.990 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:34.991Z,1761577654.991 [DAT](INFO): direction in FSK: [0.979956,-0.035933,-0.195946]
2025-10-27T15:07:34.995Z,1761577654.995 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:34.995Z,1761577654.995 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:35.004Z,1761577655.004 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:35.005Z,1761577655.005 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:35.262Z,1761577655.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243578,-0.957867,-0.152188],[0.969714,0.237607,0.056538],[-0.017995,-0.161350,0.986733]]
2025-10-27T15:07:35.338Z,1761577655.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 277.600006 m,
      deltaT: 3.778728 s,
      deltaX: -3.199982 m,
      approachRate: -0.846841 m/s,
      rangeRepo size: 4

2025-10-27T15:07:35.341Z,1761577655.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 276.307007 m,
      bearing: 71.969639 deg,
      lat: 36.779261 deg,
      lon: -121.859125 deg,
      deltaT: 7.560083 s,
      deltaX: -5.079224 m,
      approachRate: -0.671848 m/s,
      posRepo size: 4

2025-10-27T15:07:35.341Z,1761577655.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.31 m.
2025-10-27T15:07:35.344Z,1761577655.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.307007 m,
      nav range: 272.417816 m,
      bearing: 72.408347 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004380 deg/s,
      cmd heading: 75.983655 deg,
      new cmd heading: 75.990139 deg.

2025-10-27T15:07:35.345Z,1761577655.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326278 target range: 276.307007 and range: 277.60 m.
2025-10-27T15:07:35.658Z,1761577655.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244891,-0.957667,-0.151337],[0.969359,0.238737,0.057862],[-0.019282,-0.160870,0.986787]]
2025-10-27T15:07:35.674Z,1761577655.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:35.677Z,1761577655.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.31 m.
2025-10-27T15:07:35.697Z,1761577655.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.307007 m,
      nav range: 272.181763 m,
      bearing: 72.409809 deg,
      approach rate: -0.696019 m/s,
      LOS rate: 0.004314 deg/s,
      cmd heading: 75.990137 deg,
      new cmd heading: 75.994526 deg.

2025-10-27T15:07:35.703Z,1761577655.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326355 target range: 276.307007 and range: 277.60 m.
2025-10-27T15:07:35.716Z,1761577655.716 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:35.717Z,1761577655.717 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:35.717Z,1761577655.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:35.968Z,1761577655.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978998
2025-10-27T15:07:36.087Z,1761577656.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.31 m.
2025-10-27T15:07:36.090Z,1761577656.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.307007 m,
      nav range: 271.898834 m,
      bearing: 72.411564 deg,
      approach rate: -0.689743 m/s,
      LOS rate: 0.004284 deg/s,
      cmd heading: 75.994529 deg,
      new cmd heading: 75.999800 deg.

2025-10-27T15:07:36.091Z,1761577656.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326447 target range: 276.307007 and range: 277.60 m.
2025-10-27T15:07:36.221Z,1761577656.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231770
2025-10-27T15:07:36.457Z,1761577656.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247194,-0.957610,-0.147916],[0.968725,0.240829,0.059779],[-0.021622,-0.158067,0.987192]]
2025-10-27T15:07:36.472Z,1761577656.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482696
2025-10-27T15:07:36.506Z,1761577656.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.31 m.
2025-10-27T15:07:36.509Z,1761577656.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.307007 m,
      nav range: 271.613586 m,
      bearing: 72.413305 deg,
      approach rate: -0.680117 m/s,
      LOS rate: 0.004155 deg/s,
      cmd heading: 75.999802 deg,
      new cmd heading: 76.005030 deg.

2025-10-27T15:07:36.510Z,1761577656.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326538 target range: 276.307007 and range: 277.60 m.
2025-10-27T15:07:36.725Z,1761577656.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735654
2025-10-27T15:07:36.863Z,1761577656.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248285,-0.957416,-0.147341],[0.968419,0.241749,0.061013],[-0.022795,-0.157836,0.987202]]
2025-10-27T15:07:36.882Z,1761577656.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.31 m.
2025-10-27T15:07:36.884Z,1761577656.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.307007 m,
      nav range: 271.358307 m,
      bearing: 72.414927 deg,
      approach rate: -0.680424 m/s,
      LOS rate: 0.004328 deg/s,
      cmd heading: 76.005027 deg,
      new cmd heading: 76.009898 deg.

2025-10-27T15:07:36.885Z,1761577656.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326623 target range: 276.307007 and range: 277.60 m.
2025-10-27T15:07:36.977Z,1761577656.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987707
2025-10-27T15:07:37.228Z,1761577657.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238626
2025-10-27T15:07:37.304Z,1761577657.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249718,-0.957080,-0.147098],[0.968020,0.242974,0.062454],[-0.024033,-0.157990,0.987148]]
2025-10-27T15:07:37.357Z,1761577657.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.31 m.
2025-10-27T15:07:37.360Z,1761577657.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.307007 m,
      nav range: 271.024811 m,
      bearing: 72.415677 deg,
      approach rate: -0.702028 m/s,
      LOS rate: 0.001581 deg/s,
      cmd heading: 76.009897 deg,
      new cmd heading: 76.012150 deg.

2025-10-27T15:07:37.361Z,1761577657.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326662 target range: 276.307007 and range: 277.60 m.
2025-10-27T15:07:37.480Z,1761577657.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490574
2025-10-27T15:07:37.677Z,1761577657.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250821,-0.956860,-0.146654],[0.967705,0.243898,0.063719],[-0.025201,-0.157900,0.987134]]
2025-10-27T15:07:37.701Z,1761577657.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:37.705Z,1761577657.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.31 m.
2025-10-27T15:07:37.709Z,1761577657.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.307007 m,
      nav range: 270.785919 m,
      bearing: 72.416274 deg,
      approach rate: -0.686989 m/s,
      LOS rate: 0.001717 deg/s,
      cmd heading: 76.012151 deg,
      new cmd heading: 76.013942 deg.

2025-10-27T15:07:37.712Z,1761577657.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326694 target range: 276.307007 and range: 277.60 m.
2025-10-27T15:07:37.733Z,1761577657.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743109
2025-10-27T15:07:37.984Z,1761577657.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994600
2025-10-27T15:07:38.074Z,1761577658.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251881,-0.956474,-0.147355],[0.967398,0.244699,0.065290],[-0.026391,-0.158996,0.986926]]
2025-10-27T15:07:38.104Z,1761577658.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.31 m.
2025-10-27T15:07:38.107Z,1761577658.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.307007 m,
      nav range: 270.499146 m,
      bearing: 72.417056 deg,
      approach rate: -0.717925 m/s,
      LOS rate: 0.001960 deg/s,
      cmd heading: 76.013940 deg,
      new cmd heading: 76.016289 deg.

2025-10-27T15:07:38.108Z,1761577658.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326735 target range: 276.307007 and range: 277.60 m.
2025-10-27T15:07:38.236Z,1761577658.236 [DAT](INFO): DAT read: Rx Time:15:07:36.8957

2025-10-27T15:07:38.236Z,1761577658.236 [DAT](INFO): Rx dataTimestamp_ set to:1761577658.236170
2025-10-27T15:07:38.237Z,1761577658.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247689
2025-10-27T15:07:38.478Z,1761577658.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252690,-0.956477,-0.145941],[0.967155,0.245405,0.066234],[-0.027536,-0.157885,0.987074]]
2025-10-27T15:07:38.488Z,1761577658.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498654
2025-10-27T15:07:38.526Z,1761577658.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.31 m.
2025-10-27T15:07:38.529Z,1761577658.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.307007 m,
      nav range: 270.196259 m,
      bearing: 72.416974 deg,
      approach rate: -0.717104 m/s,
      LOS rate: -0.000195 deg/s,
      cmd heading: 76.016290 deg,
      new cmd heading: 76.016043 deg.

2025-10-27T15:07:38.530Z,1761577658.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326730 target range: 276.307007 and range: 277.60 m.
2025-10-27T15:07:38.741Z,1761577658.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751171
2025-10-27T15:07:38.882Z,1761577658.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252897,-0.956372,-0.146275],[0.967079,0.245459,0.067145],[-0.028311,-0.158440,0.986963]]
2025-10-27T15:07:38.909Z,1761577658.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.31 m.
2025-10-27T15:07:38.912Z,1761577658.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.307007 m,
      nav range: 269.921539 m,
      bearing: 72.416910 deg,
      approach rate: -0.717753 m/s,
      LOS rate: -0.000165 deg/s,
      cmd heading: 76.016044 deg,
      new cmd heading: 76.015854 deg.

2025-10-27T15:07:38.913Z,1761577658.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326727 target range: 276.307007 and range: 277.60 m.
2025-10-27T15:07:39.002Z,1761577659.002 [DAT](INFO): DAT read: 15:07:36.8957 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 172,-0.12,-1.344,-2.820,-0.965,-1.407, PHS= 0.165,-1.368, 0.398, RAW= 157.0,   9.7, CAL= 156.8,  10.5, ROT= 353.2, -10.5

2025-10-27T15:07:39.008Z,1761577659.008 [DAT](INFO): got valid direction response:
 15:07:36.8957 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 172,-0.12,-1.344,-2.820,-0.965,-1.407, PHS= 0.165,-1.368, 0.398, RAW= 157.0,   9.7, CAL= 156.8,  10.5, ROT= 353.2, -10.5

2025-10-27T15:07:39.009Z,1761577659.009 [DAT](INFO): DAT read: Bearing 228.2,  -9.7 (Local)

2025-10-27T15:07:39.010Z,1761577659.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.2,  -9.7 (Local)

2025-10-27T15:07:39.020Z,1761577659.020 [DAT](INFO): DAT read: Range 11 to 50 : 276.0 m  (Round-trip  368.1 ms) speed  1.1 m/s

2025-10-27T15:07:39.020Z,1761577659.020 [DAT](INFO): DAT read: user:943>

2025-10-27T15:07:39.021Z,1761577659.021 [DAT](INFO): DAT read: Tx time:15:07:37.9734

2025-10-27T15:07:39.021Z,1761577659.021 [DAT](INFO): Ping request sent.
2025-10-27T15:07:39.021Z,1761577659.021 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:07:39.022Z,1761577659.022 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:39.032Z,1761577659.032 [DAT](INFO): direction in FSK: [0.976338,-0.116421,0.182236]
2025-10-27T15:07:39.032Z,1761577659.032 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:39.032Z,1761577659.032 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:39.044Z,1761577659.044 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:39.044Z,1761577659.044 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:39.366Z,1761577659.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 276.000000 m,
      deltaT: 4.032016 s,
      deltaX: -1.600006 m,
      approachRate: -0.396825 m/s,
      rangeRepo size: 4

2025-10-27T15:07:39.368Z,1761577659.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 274.714569 m,
      bearing: 70.334043 deg,
      lat: 36.779273 deg,
      lon: -121.859137 deg,
      deltaT: 4.032016 s,
      deltaX: -1.592438 m,
      approachRate: -0.394948 m/s,
      posRepo size: 4

2025-10-27T15:07:39.369Z,1761577659.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.71 m.
2025-10-27T15:07:39.372Z,1761577659.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.714569 m,
      nav range: 269.025299 m,
      bearing: 72.070957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000165 deg/s,
      cmd heading: 76.015853 deg,
      new cmd heading: 76.015626 deg.

2025-10-27T15:07:39.373Z,1761577659.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326723 target range: 274.714569 and range: 276.00 m.
2025-10-27T15:07:39.702Z,1761577659.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252431,-0.956776,-0.144426],[0.967160,0.244911,0.067969],[-0.029660,-0.156841,0.987178]]
2025-10-27T15:07:39.777Z,1761577659.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:39.779Z,1761577659.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.71 m.
2025-10-27T15:07:39.782Z,1761577659.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.714569 m,
      nav range: 268.702972 m,
      bearing: 72.068716 deg,
      approach rate: -0.779214 m/s,
      LOS rate: -0.005422 deg/s,
      cmd heading: 76.015627 deg,
      new cmd heading: 76.008898 deg.

2025-10-27T15:07:39.783Z,1761577659.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326606 target range: 274.714569 and range: 276.00 m.
2025-10-27T15:07:39.000Z,1761577660.000 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:39.000Z,1761577660.000 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:39.000Z,1761577660.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:40.097Z,1761577660.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251805,-0.956989,-0.144109],[0.967308,0.244238,0.068281],[-0.030147,-0.156591,0.987203]]
2025-10-27T15:07:40.116Z,1761577660.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.71 m.
2025-10-27T15:07:40.119Z,1761577660.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.714569 m,
      nav range: 268.442169 m,
      bearing: 72.066864 deg,
      approach rate: -0.774058 m/s,
      LOS rate: -0.005503 deg/s,
      cmd heading: 76.008900 deg,
      new cmd heading: 76.003337 deg.

2025-10-27T15:07:40.120Z,1761577660.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326509 target range: 274.714569 and range: 276.00 m.
2025-10-27T15:07:40.252Z,1761577660.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230555
2025-10-27T15:07:40.500Z,1761577660.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250763,-0.957433,-0.142969],[0.967563,0.243215,0.068320],[-0.030639,-0.155464,0.987366]]
2025-10-27T15:07:40.504Z,1761577660.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482539
2025-10-27T15:07:40.538Z,1761577660.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.71 m.
2025-10-27T15:07:40.541Z,1761577660.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.714569 m,
      nav range: 268.111542 m,
      bearing: 72.062942 deg,
      approach rate: -0.782602 m/s,
      LOS rate: -0.009295 deg/s,
      cmd heading: 76.003340 deg,
      new cmd heading: 75.991559 deg.

2025-10-27T15:07:40.542Z,1761577660.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326303 target range: 274.714569 and range: 276.00 m.
2025-10-27T15:07:40.756Z,1761577660.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734517
2025-10-27T15:07:40.952Z,1761577660.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.71 m.
2025-10-27T15:07:40.955Z,1761577660.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.714569 m,
      nav range: 267.797974 m,
      bearing: 72.059213 deg,
      approach rate: -0.783071 m/s,
      LOS rate: -0.009323 deg/s,
      cmd heading: 75.991558 deg,
      new cmd heading: 75.980358 deg.

2025-10-27T15:07:40.956Z,1761577660.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326107 target range: 274.714569 and range: 276.00 m.
2025-10-27T15:07:41.012Z,1761577661.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990712
2025-10-27T15:07:41.264Z,1761577661.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242428
2025-10-27T15:07:41.332Z,1761577661.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247585,-0.958801,-0.139293],[0.968370,0.240290,0.067224],[-0.030983,-0.151531,0.987967]]
2025-10-27T15:07:41.397Z,1761577661.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.71 m.
2025-10-27T15:07:41.403Z,1761577661.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.714569 m,
      nav range: 267.446198 m,
      bearing: 72.054777 deg,
      approach rate: -0.768654 m/s,
      LOS rate: -0.009707 deg/s,
      cmd heading: 75.980356 deg,
      new cmd heading: 75.967029 deg.

2025-10-27T15:07:41.404Z,1761577661.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325875 target range: 274.714569 and range: 276.00 m.
2025-10-27T15:07:41.517Z,1761577661.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495316
2025-10-27T15:07:41.753Z,1761577661.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246055,-0.959608,-0.136416],[0.968754,0.238950,0.066475],[-0.031194,-0.148510,0.988419]]
2025-10-27T15:07:41.768Z,1761577661.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746956
2025-10-27T15:07:41.795Z,1761577661.795 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T15:07:41.821Z,1761577661.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:41.823Z,1761577661.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.71 m.
2025-10-27T15:07:41.826Z,1761577661.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.714569 m,
      nav range: 267.090179 m,
      bearing: 72.049812 deg,
      approach rate: -0.835245 m/s,
      LOS rate: -0.011664 deg/s,
      cmd heading: 75.967031 deg,
      new cmd heading: 75.952115 deg.

2025-10-27T15:07:41.827Z,1761577661.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325614 target range: 274.714569 and range: 276.00 m.
2025-10-27T15:07:42.020Z,1761577662.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998344
2025-10-27T15:07:42.159Z,1761577662.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244280,-0.960218,-0.135309],[0.969207,0.237297,0.065784],[-0.031058,-0.147212,0.988617]]
2025-10-27T15:07:42.178Z,1761577662.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.71 m.
2025-10-27T15:07:42.182Z,1761577662.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.714569 m,
      nav range: 266.798187 m,
      bearing: 72.045614 deg,
      approach rate: -0.821948 m/s,
      LOS rate: -0.011830 deg/s,
      cmd heading: 75.952113 deg,
      new cmd heading: 75.939506 deg.

2025-10-27T15:07:42.184Z,1761577662.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325394 target range: 274.714569 and range: 276.00 m.
2025-10-27T15:07:42.272Z,1761577662.272 [DAT](INFO): DAT read: Rx Time:15:07:40.7404

2025-10-27T15:07:42.273Z,1761577662.273 [DAT](INFO): Rx dataTimestamp_ set to:1761577662.272344
2025-10-27T15:07:42.273Z,1761577662.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251742
2025-10-27T15:07:42.524Z,1761577662.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502465
2025-10-27T15:07:42.563Z,1761577662.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243097,-0.960753,-0.133631],[0.969504,0.236239,0.065222],[-0.031093,-0.145411,0.988883]]
2025-10-27T15:07:42.669Z,1761577662.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.71 m.
2025-10-27T15:07:42.677Z,1761577662.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.714569 m,
      nav range: 266.415985 m,
      bearing: 72.040903 deg,
      approach rate: -0.777711 m/s,
      LOS rate: -0.009599 deg/s,
      cmd heading: 75.939505 deg,
      new cmd heading: 75.925352 deg.

2025-10-27T15:07:42.678Z,1761577662.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325147 target range: 274.714569 and range: 276.00 m.
2025-10-27T15:07:42.785Z,1761577662.785 [DAT](INFO): DAT read: 15:07:40.7404 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 384, 0.06,-2.714, 2.170,-2.501, 2.959, PHS= 0.712,-0.744, 0.778, RAW= 152.2, -10.0, CAL= 152.9, -11.8, ROT= 357.1,  11.8

2025-10-27T15:07:42.786Z,1761577662.786 [DAT](INFO): got valid direction response:
 15:07:40.7404 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 384, 0.06,-2.714, 2.170,-2.501, 2.959, PHS= 0.712,-0.744, 0.778, RAW= 152.2, -10.0, CAL= 152.9, -11.8, ROT= 357.1,  11.8

2025-10-27T15:07:42.788Z,1761577662.788 [DAT](INFO): DAT read: Bearing 206.3,  -2.7 (Local)

2025-10-27T15:07:42.788Z,1761577662.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.3,  -2.7 (Local)

2025-10-27T15:07:42.789Z,1761577662.789 [DAT](INFO): DAT read: Range 11 to 50 : 272.1 m  (Round-trip  362.8 ms) speed  0.5 m/s

2025-10-27T15:07:42.790Z,1761577662.790 [DAT](INFO): DAT read: user:944>

2025-10-27T15:07:42.791Z,1761577662.791 [DAT](INFO): DAT read: Tx time:15:07:41.8234

2025-10-27T15:07:42.791Z,1761577662.791 [DAT](INFO): Ping request sent.
2025-10-27T15:07:42.792Z,1761577662.792 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:07:42.792Z,1761577662.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:42.793Z,1761577662.793 [DAT](INFO): direction in FSK: [0.977614,-0.049524,-0.204496]
2025-10-27T15:07:42.793Z,1761577662.793 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:42.793Z,1761577662.793 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:42.797Z,1761577662.797 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:42.797Z,1761577662.797 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:43.038Z,1761577663.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240529,-0.961342,-0.134041],[0.970144,0.233680,0.064913],[-0.031081,-0.145653,0.988847]]
2025-10-27T15:07:43.063Z,1761577663.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 272.100006 m,
      deltaT: 3.784487 s,
      deltaX: -3.899994 m,
      approachRate: -1.030521 m/s,
      rangeRepo size: 4

2025-10-27T15:07:43.065Z,1761577663.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 270.831543 m,
      bearing: 71.436462 deg,
      lat: 36.779291 deg,
      lon: -121.859149 deg,
      deltaT: 3.784487 s,
      deltaX: -3.883026 m,
      approachRate: -1.026038 m/s,
      posRepo size: 4

2025-10-27T15:07:43.066Z,1761577663.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.83 m.
2025-10-27T15:07:43.069Z,1761577663.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.831543 m,
      nav range: 265.683380 m,
      bearing: 71.567412 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009599 deg/s,
      cmd heading: 75.925353 deg,
      new cmd heading: 75.914036 deg.

2025-10-27T15:07:43.070Z,1761577663.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324950 target range: 270.831543 and range: 272.10 m.
2025-10-27T15:07:43.436Z,1761577663.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239516,-0.961216,-0.136733],[0.970397,0.232510,0.065337],[-0.031011,-0.148334,0.988451]]
2025-10-27T15:07:43.474Z,1761577663.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.83 m.
2025-10-27T15:07:43.497Z,1761577663.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.831543 m,
      nav range: 265.344482 m,
      bearing: 71.562896 deg,
      approach rate: -0.822723 m/s,
      LOS rate: -0.010978 deg/s,
      cmd heading: 75.914035 deg,
      new cmd heading: 75.900469 deg.

2025-10-27T15:07:43.498Z,1761577663.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324713 target range: 270.831543 and range: 272.10 m.
2025-10-27T15:07:43.837Z,1761577663.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239218,-0.960765,-0.140378],[0.970462,0.231923,0.066453],[-0.031289,-0.152128,0.987865]]
2025-10-27T15:07:43.854Z,1761577663.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:43.856Z,1761577663.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.83 m.
2025-10-27T15:07:43.879Z,1761577663.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.831543 m,
      nav range: 265.034698 m,
      bearing: 71.558743 deg,
      approach rate: -0.811214 m/s,
      LOS rate: -0.010888 deg/s,
      cmd heading: 75.900470 deg,
      new cmd heading: 75.887997 deg.

2025-10-27T15:07:43.880Z,1761577663.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324495 target range: 270.831543 and range: 272.10 m.
2025-10-27T15:07:44.036Z,1761577664.036 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:44.036Z,1761577664.036 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:44.036Z,1761577664.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:44.249Z,1761577664.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238733,-0.960397,-0.143681],[0.970571,0.231163,0.067501],[-0.031614,-0.155567,0.987319]]
2025-10-27T15:07:44.273Z,1761577664.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.83 m.
2025-10-27T15:07:44.276Z,1761577664.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.831543 m,
      nav range: 264.701050 m,
      bearing: 71.554229 deg,
      approach rate: -0.812404 m/s,
      LOS rate: -0.011007 deg/s,
      cmd heading: 75.887998 deg,
      new cmd heading: 75.874437 deg.

2025-10-27T15:07:44.277Z,1761577664.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324259 target range: 270.831543 and range: 272.10 m.
2025-10-27T15:07:44.288Z,1761577664.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496380
2025-10-27T15:07:44.541Z,1761577664.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748940
2025-10-27T15:07:44.649Z,1761577664.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238574,-0.960101,-0.145907],[0.970599,0.230797,0.068340],[-0.031939,-0.157921,0.986935]]
2025-10-27T15:07:44.764Z,1761577664.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.83 m.
2025-10-27T15:07:44.767Z,1761577664.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.831543 m,
      nav range: 264.317230 m,
      bearing: 71.550895 deg,
      approach rate: -0.772145 m/s,
      LOS rate: -0.006716 deg/s,
      cmd heading: 75.874440 deg,
      new cmd heading: 75.864426 deg.

2025-10-27T15:07:44.784Z,1761577664.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324084 target range: 270.831543 and range: 272.10 m.
2025-10-27T15:07:44.792Z,1761577664.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000346
2025-10-27T15:07:45.045Z,1761577665.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253369
2025-10-27T15:07:45.112Z,1761577665.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238397,-0.960110,-0.146139],[0.970622,0.230508,0.068979],[-0.032542,-0.158290,0.986856]]
2025-10-27T15:07:45.138Z,1761577665.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.83 m.
2025-10-27T15:07:45.141Z,1761577665.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.831543 m,
      nav range: 264.026855 m,
      bearing: 71.548356 deg,
      approach rate: -0.776750 m/s,
      LOS rate: -0.006799 deg/s,
      cmd heading: 75.864427 deg,
      new cmd heading: 75.856802 deg.

2025-10-27T15:07:45.142Z,1761577665.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323951 target range: 270.831543 and range: 272.10 m.
2025-10-27T15:07:45.296Z,1761577665.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504293
2025-10-27T15:07:45.508Z,1761577665.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238731,-0.959820,-0.147489],[0.970513,0.230606,0.070180],[-0.033349,-0.159894,0.986571]]
2025-10-27T15:07:45.545Z,1761577665.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.83 m.
2025-10-27T15:07:45.548Z,1761577665.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756455
2025-10-27T15:07:45.549Z,1761577665.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.831543 m,
      nav range: 263.725647 m,
      bearing: 71.546815 deg,
      approach rate: -0.740299 m/s,
      LOS rate: -0.003792 deg/s,
      cmd heading: 75.856805 deg,
      new cmd heading: 75.852176 deg.

2025-10-27T15:07:45.550Z,1761577665.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323870 target range: 270.831543 and range: 272.10 m.
2025-10-27T15:07:45.802Z,1761577665.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010043
2025-10-27T15:07:45.910Z,1761577665.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239167,-0.959748,-0.147251],[0.970370,0.230885,0.071231],[-0.034366,-0.159924,0.986531]]
2025-10-27T15:07:45.931Z,1761577665.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:45.933Z,1761577665.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.83 m.
2025-10-27T15:07:45.936Z,1761577665.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.831543 m,
      nav range: 263.441345 m,
      bearing: 71.545386 deg,
      approach rate: -0.732031 m/s,
      LOS rate: -0.003685 deg/s,
      cmd heading: 75.852174 deg,
      new cmd heading: 75.847881 deg.

2025-10-27T15:07:45.937Z,1761577665.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323795 target range: 270.831543 and range: 272.10 m.
2025-10-27T15:07:46.052Z,1761577666.052 [DAT](INFO): DAT read: Rx Time:15:07:44.5878

2025-10-27T15:07:46.052Z,1761577666.052 [DAT](INFO): Rx dataTimestamp_ set to:1761577666.052183
2025-10-27T15:07:46.053Z,1761577666.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261399
2025-10-27T15:07:46.304Z,1761577666.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512383
2025-10-27T15:07:46.315Z,1761577666.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239854,-0.959550,-0.147425],[0.970165,0.231387,0.072381],[-0.035341,-0.160388,0.986421]]
2025-10-27T15:07:46.353Z,1761577666.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.83 m.
2025-10-27T15:07:46.360Z,1761577666.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.831543 m,
      nav range: 263.132996 m,
      bearing: 71.543880 deg,
      approach rate: -0.734054 m/s,
      LOS rate: -0.003588 deg/s,
      cmd heading: 75.847878 deg,
      new cmd heading: 75.843357 deg.

2025-10-27T15:07:46.361Z,1761577666.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323716 target range: 270.831543 and range: 272.10 m.
2025-10-27T15:07:46.562Z,1761577666.562 [DAT](INFO): DAT read: 15:07:44.5878 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 164, 0.26, 0.676,-0.875, 1.036, 0.569, PHS= 0.208,-1.400, 0.423, RAW= 156.2,   9.0, CAL= 155.9,   9.5, ROT= 354.1,  -9.5

2025-10-27T15:07:46.563Z,1761577666.563 [DAT](INFO): got valid direction response:
 15:07:44.5878 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 164, 0.26, 0.676,-0.875, 1.036, 0.569, PHS= 0.208,-1.400, 0.423, RAW= 156.2,   9.0, CAL= 155.9,   9.5, ROT= 354.1,  -9.5

2025-10-27T15:07:46.564Z,1761577666.564 [DAT](INFO): DAT read: Bearing 227.3,  -9.3 (Local)

2025-10-27T15:07:46.564Z,1761577666.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.3,  -9.3 (Local)

2025-10-27T15:07:46.566Z,1761577666.566 [DAT](INFO): DAT read: Range 11 to 50 : 270.2 m  (Round-trip  360.3 ms) speed -0.3 m/s

2025-10-27T15:07:46.567Z,1761577666.567 [DAT](INFO): DAT read: user:945>

2025-10-27T15:07:46.567Z,1761577666.567 [DAT](INFO): DAT read: Tx time:15:07:45.6734

2025-10-27T15:07:46.568Z,1761577666.568 [DAT](INFO): Ping request sent.
2025-10-27T15:07:46.568Z,1761577666.568 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:07:46.568Z,1761577666.568 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:46.569Z,1761577666.569 [DAT](INFO): direction in FSK: [0.981061,-0.101383,0.165048]
2025-10-27T15:07:46.569Z,1761577666.569 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:46.570Z,1761577666.570 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:46.573Z,1761577666.573 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:46.573Z,1761577666.573 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:46.835Z,1761577666.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 270.200012 m,
      deltaT: 3.779254 s,
      deltaX: -1.899994 m,
      approachRate: -0.502743 m/s,
      rangeRepo size: 4

2025-10-27T15:07:46.841Z,1761577666.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 268.940399 m,
      bearing: 71.848789 deg,
      lat: 36.779291 deg,
      lon: -121.859149 deg,
      deltaT: 3.779254 s,
      deltaX: -1.891144 m,
      approachRate: -0.500401 m/s,
      posRepo size: 4

2025-10-27T15:07:46.842Z,1761577666.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:46.849Z,1761577666.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 262.792877 m,
      bearing: 71.544274 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003588 deg/s,
      cmd heading: 75.843356 deg,
      new cmd heading: 75.838181 deg.

2025-10-27T15:07:46.850Z,1761577666.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323626 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:47.155Z,1761577667.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240632,-0.959757,-0.144785],[0.969915,0.232100,0.073445],[-0.036885,-0.158103,0.986734]]
2025-10-27T15:07:47.192Z,1761577667.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:47.202Z,1761577667.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 262.536346 m,
      bearing: 71.544618 deg,
      approach rate: -0.716775 m/s,
      LOS rate: 0.000963 deg/s,
      cmd heading: 75.838179 deg,
      new cmd heading: 75.839213 deg.

2025-10-27T15:07:47.207Z,1761577667.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323644 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:47.560Z,1761577667.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241110,-0.959705,-0.144330],[0.969770,0.232490,0.074130],[-0.037588,-0.157841,0.986749]]
2025-10-27T15:07:47.598Z,1761577667.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:47.617Z,1761577667.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 262.234070 m,
      bearing: 71.545434 deg,
      approach rate: -0.743703 m/s,
      LOS rate: 0.002010 deg/s,
      cmd heading: 75.839210 deg,
      new cmd heading: 75.841661 deg.

2025-10-27T15:07:47.618Z,1761577667.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323687 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:47.962Z,1761577667.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241820,-0.959831,-0.142293],[0.969588,0.233326,0.073878],[-0.037709,-0.155830,0.987064]]
2025-10-27T15:07:47.978Z,1761577667.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:47.981Z,1761577667.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:47.983Z,1761577667.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 261.962250 m,
      bearing: 71.546215 deg,
      approach rate: -0.711096 m/s,
      LOS rate: 0.002044 deg/s,
      cmd heading: 75.841662 deg,
      new cmd heading: 75.844006 deg.

2025-10-27T15:07:47.984Z,1761577667.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323728 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:48.068Z,1761577668.068 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:48.069Z,1761577668.069 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:48.069Z,1761577668.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:48.320Z,1761577668.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752012
2025-10-27T15:07:48.366Z,1761577668.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242698,-0.959738,-0.141427],[0.969345,0.234159,0.074431],[-0.038318,-0.155156,0.987147]]
2025-10-27T15:07:48.404Z,1761577668.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:48.406Z,1761577668.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 261.666931 m,
      bearing: 71.547124 deg,
      approach rate: -0.697813 m/s,
      LOS rate: 0.002151 deg/s,
      cmd heading: 75.844005 deg,
      new cmd heading: 75.846736 deg.

2025-10-27T15:07:48.409Z,1761577668.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323775 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:48.572Z,1761577668.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003929
2025-10-27T15:07:48.781Z,1761577668.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243784,-0.959476,-0.141336],[0.969046,0.235127,0.075275],[-0.038993,-0.155312,0.987096]]
2025-10-27T15:07:48.824Z,1761577668.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256060
2025-10-27T15:07:48.837Z,1761577668.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:48.844Z,1761577668.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 261.367981 m,
      bearing: 71.548632 deg,
      approach rate: -0.690504 m/s,
      LOS rate: 0.003487 deg/s,
      cmd heading: 75.846737 deg,
      new cmd heading: 75.851267 deg.

2025-10-27T15:07:48.845Z,1761577668.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323854 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:49.076Z,1761577669.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508201
2025-10-27T15:07:49.196Z,1761577669.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244770,-0.959420,-0.140004],[0.968778,0.236128,0.075580],[-0.039454,-0.154132,0.987262]]
2025-10-27T15:07:49.229Z,1761577669.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:49.232Z,1761577669.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 261.075745 m,
      bearing: 71.550177 deg,
      approach rate: -0.745417 m/s,
      LOS rate: 0.003944 deg/s,
      cmd heading: 75.851266 deg,
      new cmd heading: 75.855905 deg.

2025-10-27T15:07:49.233Z,1761577669.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323935 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:49.328Z,1761577669.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760110
2025-10-27T15:07:49.580Z,1761577669.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012040
2025-10-27T15:07:49.589Z,1761577669.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245680,-0.958992,-0.141338],[0.968545,0.236908,0.076121],[-0.039515,-0.155594,0.987030]]
2025-10-27T15:07:49.625Z,1761577669.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:49.644Z,1761577669.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 260.798981 m,
      bearing: 71.552026 deg,
      approach rate: -0.698892 m/s,
      LOS rate: 0.004676 deg/s,
      cmd heading: 75.855903 deg,
      new cmd heading: 75.861459 deg.

2025-10-27T15:07:49.645Z,1761577669.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324032 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:49.832Z,1761577669.832 [DAT](INFO): DAT read: Rx Time:15:07:48.3853

2025-10-27T15:07:49.832Z,1761577669.832 [DAT](INFO): Rx dataTimestamp_ set to:1761577669.832133
2025-10-27T15:07:49.833Z,1761577669.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265047
2025-10-27T15:07:49.990Z,1761577669.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246767,-0.958703,-0.141405],[0.968251,0.237902,0.076767],[-0.039956,-0.155859,0.986971]]
2025-10-27T15:07:50.016Z,1761577670.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:50.018Z,1761577670.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:50.021Z,1761577670.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 260.524323 m,
      bearing: 71.553934 deg,
      approach rate: -0.698353 m/s,
      LOS rate: 0.004854 deg/s,
      cmd heading: 75.861456 deg,
      new cmd heading: 75.867184 deg.

2025-10-27T15:07:50.022Z,1761577670.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324132 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:50.040Z,1761577670.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:07:50.085Z,1761577670.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517071
2025-10-27T15:07:50.342Z,1761577670.342 [DAT](INFO): DAT read: 15:07:48.3853 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 396, 0.37, 3.125, 1.700,-2.767, 3.134, PHS= 0.093,-1.389, 0.338, RAW= 157.5,  11.8, CAL= 157.7,  13.2, ROT= 352.3, -13.2

2025-10-27T15:07:50.343Z,1761577670.343 [DAT](INFO): got valid direction response:
 15:07:48.3853 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 396, 0.37, 3.125, 1.700,-2.767, 3.134, PHS= 0.093,-1.389, 0.338, RAW= 157.5,  11.8, CAL= 157.7,  13.2, ROT= 352.3, -13.2

2025-10-27T15:07:50.344Z,1761577670.344 [DAT](INFO): DAT read: Bearing 230.7, -11.8 (Local)

2025-10-27T15:07:50.344Z,1761577670.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.7, -11.8 (Local)

2025-10-27T15:07:50.346Z,1761577670.346 [DAT](INFO): DAT read: Range 11 to 50 : 230.8 m  (Round-trip  307.8 ms) speed  0.7 m/s

2025-10-27T15:07:50.346Z,1761577670.346 [DAT](INFO): DAT read: user:946>

2025-10-27T15:07:50.347Z,1761577670.347 [DAT](INFO): DAT read: Tx time:15:07:49.4734

2025-10-27T15:07:50.347Z,1761577670.347 [DAT](INFO): Ping request sent.
2025-10-27T15:07:50.348Z,1761577670.348 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:07:50.348Z,1761577670.348 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:50.349Z,1761577670.349 [DAT](INFO): direction in FSK: [0.964800,-0.130446,0.228351]
2025-10-27T15:07:50.349Z,1761577670.349 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:50.349Z,1761577670.349 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:50.353Z,1761577670.353 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:50.353Z,1761577670.353 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:50.434Z,1761577670.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247432,-0.958606,-0.140897],[0.968066,0.238540,0.077114],[-0.040312,-0.155479,0.987016]]
2025-10-27T15:07:50.536Z,1761577670.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 230.800003 m,
 deltaT: 3.780022 s,
 deltaX: -39.400009 m,
 approachRate: -10.423223 m/s,
 rangeRepo size: 4
2025-10-27T15:07:50.536Z,1761577670.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:50.543Z,1761577670.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 260.213562 m,
      bearing: 71.556145 deg,
      approach rate: -0.606242 m/s,
      LOS rate: 0.004318 deg/s,
      cmd heading: 75.867187 deg,
      new cmd heading: 75.873828 deg.

2025-10-27T15:07:50.544Z,1761577670.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324248 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:50.857Z,1761577670.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248384,-0.958279,-0.141445],[0.967816,0.239408,0.077557],[-0.040458,-0.156156,0.986903]]
2025-10-27T15:07:50.900Z,1761577670.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:50.903Z,1761577670.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 259.903198 m,
      bearing: 71.556942 deg,
      approach rate: -0.840561 m/s,
      LOS rate: 0.002161 deg/s,
      cmd heading: 75.873826 deg,
      new cmd heading: 75.876220 deg.

2025-10-27T15:07:50.904Z,1761577670.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324290 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:51.043Z,1761577671.043 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:07:51.252Z,1761577671.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249391,-0.957904,-0.142214],[0.967543,0.240283,0.078256],[-0.040790,-0.157115,0.986738]]
2025-10-27T15:07:51.270Z,1761577671.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:51.273Z,1761577671.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 259.640533 m,
      bearing: 71.557677 deg,
      approach rate: -0.709824 m/s,
      LOS rate: 0.001990 deg/s,
      cmd heading: 75.876223 deg,
      new cmd heading: 75.878432 deg.

2025-10-27T15:07:51.274Z,1761577671.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324328 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:51.654Z,1761577671.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250308,-0.957679,-0.142119],[0.967286,0.241112,0.078888],[-0.041283,-0.157216,0.986701]]
2025-10-27T15:07:51.738Z,1761577671.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:51.746Z,1761577671.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 259.315613 m,
      bearing: 71.556600 deg,
      approach rate: -0.694587 m/s,
      LOS rate: -0.002306 deg/s,
      cmd heading: 75.878429 deg,
      new cmd heading: 75.875194 deg.

2025-10-27T15:07:51.752Z,1761577671.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324272 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:52.059Z,1761577672.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250940,-0.957534,-0.141977],[0.967104,0.241675,0.079397],[-0.041713,-0.157231,0.986681]]
2025-10-27T15:07:52.075Z,1761577672.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:52.078Z,1761577672.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:52.080Z,1761577672.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 259.064026 m,
      bearing: 71.555801 deg,
      approach rate: -0.740284 m/s,
      LOS rate: -0.002354 deg/s,
      cmd heading: 75.875192 deg,
      new cmd heading: 75.872792 deg.

2025-10-27T15:07:52.081Z,1761577672.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324230 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:52.100Z,1761577672.100 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:52.100Z,1761577672.100 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:52.100Z,1761577672.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:52.352Z,1761577672.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004397
2025-10-27T15:07:52.461Z,1761577672.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251192,-0.957485,-0.141862],[0.967027,0.241892,0.079668],[-0.041966,-0.157196,0.986675]]
2025-10-27T15:07:52.513Z,1761577672.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:52.535Z,1761577672.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 258.771393 m,
      bearing: 71.554886 deg,
      approach rate: -0.673999 m/s,
      LOS rate: -0.002109 deg/s,
      cmd heading: 75.872794 deg,
      new cmd heading: 75.870048 deg.

2025-10-27T15:07:52.543Z,1761577672.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324182 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:52.605Z,1761577672.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257189
2025-10-27T15:07:52.856Z,1761577672.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508382
2025-10-27T15:07:52.868Z,1761577672.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251342,-0.957652,-0.140465],[0.966969,0.242085,0.079782],[-0.042398,-0.155878,0.986866]]
2025-10-27T15:07:52.918Z,1761577672.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:52.921Z,1761577672.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 258.459412 m,
      bearing: 71.552529 deg,
      approach rate: -0.767719 m/s,
      LOS rate: -0.005808 deg/s,
      cmd heading: 75.870049 deg,
      new cmd heading: 75.862968 deg.

2025-10-27T15:07:52.922Z,1761577672.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324059 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:53.108Z,1761577673.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760352
2025-10-27T15:07:53.272Z,1761577673.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251747,-0.957670,-0.139612],[0.966843,0.242478,0.080120],[-0.042876,-0.155153,0.986960]]
2025-10-27T15:07:53.290Z,1761577673.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:53.293Z,1761577673.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 258.189941 m,
      bearing: 71.550514 deg,
      approach rate: -0.724293 m/s,
      LOS rate: -0.005421 deg/s,
      cmd heading: 75.862966 deg,
      new cmd heading: 75.856915 deg.

2025-10-27T15:07:53.294Z,1761577673.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323953 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:53.361Z,1761577673.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013123
2025-10-27T15:07:53.612Z,1761577673.612 [DAT](INFO): DAT read: Rx Time:15:07:52.2314

2025-10-27T15:07:53.613Z,1761577673.613 [DAT](INFO): Rx dataTimestamp_ set to:1761577673.612409
2025-10-27T15:07:53.613Z,1761577673.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265648
2025-10-27T15:07:53.697Z,1761577673.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251545,-0.957740,-0.139493],[0.966894,0.242285,0.080082],[-0.042901,-0.155019,0.986980]]
2025-10-27T15:07:53.758Z,1761577673.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:53.765Z,1761577673.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 257.861786 m,
      bearing: 71.546502 deg,
      approach rate: -0.701344 m/s,
      LOS rate: -0.008585 deg/s,
      cmd heading: 75.856914 deg,
      new cmd heading: 75.844864 deg.

2025-10-27T15:07:53.766Z,1761577673.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323743 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:53.864Z,1761577673.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516416
2025-10-27T15:07:54.089Z,1761577674.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251880,-0.957492,-0.140587],[0.966803,0.242508,0.080510],[-0.042995,-0.156198,0.986789]]
2025-10-27T15:07:54.119Z,1761577674.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770490
2025-10-27T15:07:54.181Z,1761577674.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:54.188Z,1761577674.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.94 m.
2025-10-27T15:07:54.196Z,1761577674.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.940399 m,
      nav range: 257.549286 m,
      bearing: 71.542696 deg,
      approach rate: -0.726043 m/s,
      LOS rate: -0.008855 deg/s,
      cmd heading: 75.844866 deg,
      new cmd heading: 75.833432 deg.

2025-10-27T15:07:54.197Z,1761577674.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323543 target range: 268.940399 and range: 270.20 m.
2025-10-27T15:07:54.373Z,1761577674.373 [DAT](INFO): DAT read: 15:07:52.2314 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 405, 0.07,-0.605,-1.950,-0.437,-0.929, PHS= 0.426,-0.976, 0.447, RAW= 150.8,   1.5, CAL= 149.6,   1.1, ROT=   0.4,  -1.1

2025-10-27T15:07:54.375Z,1761577674.375 [DAT](INFO): got valid direction response:
 15:07:52.2314 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 405, 0.07,-0.605,-1.950,-0.437,-0.929, PHS= 0.426,-0.976, 0.447, RAW= 150.8,   1.5, CAL= 149.6,   1.1, ROT=   0.4,  -1.1

2025-10-27T15:07:54.376Z,1761577674.376 [DAT](INFO): DAT read: Bearing 220.1,  -2.3 (Local)

2025-10-27T15:07:54.376Z,1761577674.376 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.1,  -2.3 (Local)

2025-10-27T15:07:54.377Z,1761577674.377 [DAT](INFO): DAT read: Range 11 to 50 : 265.4 m  (Round-trip  353.9 ms) speed  0.4 m/s

2025-10-27T15:07:54.378Z,1761577674.378 [DAT](INFO): DAT read: user:947>

2025-10-27T15:07:54.381Z,1761577674.381 [DAT](INFO): DAT read: Tx time:15:07:53.3234

2025-10-27T15:07:54.381Z,1761577674.381 [DAT](INFO): Ping request sent.
2025-10-27T15:07:54.381Z,1761577674.381 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:07:54.381Z,1761577674.381 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:54.382Z,1761577674.382 [DAT](INFO): direction in FSK: [0.999791,0.006980,0.019197]
2025-10-27T15:07:54.383Z,1761577674.383 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:54.383Z,1761577674.383 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:54.386Z,1761577674.386 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:54.386Z,1761577674.386 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:54.486Z,1761577674.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252244,-0.957512,-0.139797],[0.966708,0.242930,0.080385],[-0.043009,-0.155419,0.986912]]
2025-10-27T15:07:54.592Z,1761577674.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 265.399994 m,
      deltaT: 7.811921 s,
      deltaX: -4.800018 m,
      approachRate: -0.614448 m/s,
      rangeRepo size: 4

2025-10-27T15:07:54.594Z,1761577674.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 264.164734 m,
      bearing: 75.942202 deg,
      lat: 36.779288 deg,
      lon: -121.859149 deg,
      deltaT: 7.811921 s,
      deltaX: -4.775665 m,
      approachRate: -0.611330 m/s,
      posRepo size: 4

2025-10-27T15:07:54.599Z,1761577674.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.16 m.
2025-10-27T15:07:54.602Z,1761577674.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.164734 m,
      nav range: 257.205536 m,
      bearing: 71.599905 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008855 deg/s,
      cmd heading: 75.833432 deg,
      new cmd heading: 75.822893 deg.

2025-10-27T15:07:54.607Z,1761577674.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323359 target range: 264.164734 and range: 265.40 m.
2025-10-27T15:07:54.892Z,1761577674.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252321,-0.957702,-0.138349],[0.966680,0.243100,0.080201],[-0.043176,-0.153976,0.987131]]
2025-10-27T15:07:54.929Z,1761577674.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.16 m.
2025-10-27T15:07:54.948Z,1761577674.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.164734 m,
      nav range: 256.882996 m,
      bearing: 71.594826 deg,
      approach rate: -0.938821 m/s,
      LOS rate: -0.014803 deg/s,
      cmd heading: 75.822893 deg,
      new cmd heading: 75.807636 deg.

2025-10-27T15:07:54.949Z,1761577674.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323093 target range: 264.164734 and range: 265.40 m.
2025-10-27T15:07:55.294Z,1761577675.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252185,-0.957707,-0.138567],[0.966711,0.242934,0.080326],[-0.043266,-0.154211,0.987090]]
2025-10-27T15:07:55.313Z,1761577675.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.16 m.
2025-10-27T15:07:55.316Z,1761577675.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.164734 m,
      nav range: 256.585663 m,
      bearing: 71.590123 deg,
      approach rate: -0.774443 m/s,
      LOS rate: -0.012264 deg/s,
      cmd heading: 75.807634 deg,
      new cmd heading: 75.793509 deg.

2025-10-27T15:07:55.317Z,1761577675.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322846 target range: 264.164734 and range: 265.40 m.
2025-10-27T15:07:55.708Z,1761577675.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252933,-0.957431,-0.139107],[0.966488,0.243527,0.081207],[-0.043873,-0.154985,0.986942]]
2025-10-27T15:07:55.776Z,1761577675.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.16 m.
2025-10-27T15:07:55.785Z,1761577675.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.164734 m,
      nav range: 256.225525 m,
      bearing: 71.585508 deg,
      approach rate: -0.776707 m/s,
      LOS rate: -0.009968 deg/s,
      cmd heading: 75.793510 deg,
      new cmd heading: 75.779644 deg.

2025-10-27T15:07:55.812Z,1761577675.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322604 target range: 264.164734 and range: 265.40 m.
2025-10-27T15:07:56.143Z,1761577676.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252771,-0.957382,-0.139735],[0.966527,0.243300,0.081431],[-0.043963,-0.155641,0.986835]]
2025-10-27T15:07:56.169Z,1761577676.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.16 m.
2025-10-27T15:07:56.174Z,1761577676.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.164734 m,
      nav range: 255.914581 m,
      bearing: 71.581500 deg,
      approach rate: -0.792443 m/s,
      LOS rate: -0.010225 deg/s,
      cmd heading: 75.779644 deg,
      new cmd heading: 75.767608 deg.

2025-10-27T15:07:56.177Z,1761577676.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322394 target range: 264.164734 and range: 265.40 m.
2025-10-27T15:07:56.546Z,1761577676.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252262,-0.957197,-0.141910],[0.966643,0.242555,0.082269],[-0.044326,-0.157930,0.986455]]
2025-10-27T15:07:56.633Z,1761577676.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:56.636Z,1761577676.636 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:56.636Z,1761577676.636 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:56.636Z,1761577676.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:56.643Z,1761577676.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.16 m.
2025-10-27T15:07:56.646Z,1761577676.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.164734 m,
      nav range: 255.565842 m,
      bearing: 71.576954 deg,
      approach rate: -0.747776 m/s,
      LOS rate: -0.009762 deg/s,
      cmd heading: 75.767609 deg,
      new cmd heading: 75.753952 deg.

2025-10-27T15:07:56.660Z,1761577676.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322156 target range: 264.164734 and range: 265.40 m.
2025-10-27T15:07:56.888Z,1761577676.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506862
2025-10-27T15:07:56.995Z,1761577676.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252198,-0.957099,-0.142680],[0.966656,0.242410,0.082548],[-0.044419,-0.158741,0.986321]]
2025-10-27T15:07:57.045Z,1761577677.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.16 m.
2025-10-27T15:07:57.048Z,1761577677.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.164734 m,
      nav range: 255.212128 m,
      bearing: 71.570234 deg,
      approach rate: -0.862132 m/s,
      LOS rate: -0.016401 deg/s,
      cmd heading: 75.753949 deg,
      new cmd heading: 75.733762 deg.

2025-10-27T15:07:57.049Z,1761577677.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321803 target range: 264.164734 and range: 265.40 m.
2025-10-27T15:07:57.140Z,1761577677.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759063
2025-10-27T15:07:57.392Z,1761577677.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011314
2025-10-27T15:07:57.400Z,1761577677.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252104,-0.957112,-0.142758],[0.966675,0.242293,0.082665],[-0.044531,-0.158841,0.986299]]
2025-10-27T15:07:57.448Z,1761577677.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.16 m.
2025-10-27T15:07:57.450Z,1761577677.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.164734 m,
      nav range: 254.913742 m,
      bearing: 71.564545 deg,
      approach rate: -0.784901 m/s,
      LOS rate: -0.014984 deg/s,
      cmd heading: 75.733759 deg,
      new cmd heading: 75.716671 deg.

2025-10-27T15:07:57.455Z,1761577677.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321505 target range: 264.164734 and range: 265.40 m.
2025-10-27T15:07:57.644Z,1761577677.644 [DAT](INFO): DAT read: Rx Time:15:07:56.0780

2025-10-27T15:07:57.644Z,1761577677.644 [DAT](INFO): Rx dataTimestamp_ set to:1761577677.644123
2025-10-27T15:07:57.645Z,1761577677.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263840
2025-10-27T15:07:57.802Z,1761577677.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251768,-0.957241,-0.142485],[0.966756,0.241963,0.082680],[-0.044669,-0.158564,0.986338]]
2025-10-27T15:07:57.882Z,1761577677.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.16 m.
2025-10-27T15:07:57.889Z,1761577677.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.164734 m,
      nav range: 254.558151 m,
      bearing: 71.558206 deg,
      approach rate: -0.779485 m/s,
      LOS rate: -0.013915 deg/s,
      cmd heading: 75.716670 deg,
      new cmd heading: 75.697626 deg.

2025-10-27T15:07:57.890Z,1761577677.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321173 target range: 264.164734 and range: 265.40 m.
2025-10-27T15:07:57.896Z,1761577677.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514875
2025-10-27T15:07:58.157Z,1761577678.157 [DAT](INFO): DAT read: 15:07:56.0780 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 401,-0.25, 1.615, 0.310, 1.758, 0.988, PHS= 0.729,-0.634, 0.726, RAW= 149.9, -12.0, CAL= 150.9, -14.0, ROT= 359.1,  14.0

2025-10-27T15:07:58.165Z,1761577678.165 [DAT](INFO): got valid direction response:
 15:07:56.0780 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 401,-0.25, 1.615, 0.310, 1.758, 0.988, PHS= 0.729,-0.634, 0.726, RAW= 149.9, -12.0, CAL= 150.9, -14.0, ROT= 359.1,  14.0

2025-10-27T15:07:58.170Z,1761577678.170 [DAT](INFO): DAT read: Bearing 204.8,  -1.2 (Local)

2025-10-27T15:07:58.190Z,1761577678.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.8,  -1.2 (Local)

2025-10-27T15:07:58.205Z,1761577678.205 [DAT](INFO): DAT read: Range 11 to 50 : 262.8 m  (Round-trip  350.4 ms) speed  0.5 m/s

2025-10-27T15:07:58.206Z,1761577678.206 [DAT](INFO): DAT read: user:948>

2025-10-27T15:07:58.211Z,1761577678.211 [DAT](INFO): DAT read: Tx time:15:07:57.1734

2025-10-27T15:07:58.212Z,1761577678.212 [DAT](INFO): Ping request sent.
2025-10-27T15:07:58.212Z,1761577678.212 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:07:58.212Z,1761577678.212 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:07:58.213Z,1761577678.213 [DAT](INFO): direction in FSK: [0.970176,-0.015241,-0.241922]
2025-10-27T15:07:58.213Z,1761577678.213 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:58.214Z,1761577678.214 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:58.221Z,1761577678.221 [DAT](INFO): publishing transmit ping time
2025-10-27T15:07:58.221Z,1761577678.221 [DAT](INFO): publishing direction and range info
2025-10-27T15:07:58.344Z,1761577678.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.799988 m,
      deltaT: 3.780120 s,
      deltaX: -2.600006 m,
      approachRate: -0.687810 m/s,
      rangeRepo size: 4

2025-10-27T15:07:58.346Z,1761577678.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 261.576233 m,
      bearing: 72.211954 deg,
      lat: 36.779255 deg,
      lon: -121.859171 deg,
      deltaT: 3.780120 s,
      deltaX: -2.588501 m,
      approachRate: -0.684767 m/s,
      posRepo size: 4

2025-10-27T15:07:58.357Z,1761577678.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:07:58.372Z,1761577678.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 251.214676 m,
      bearing: 72.215991 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013915 deg/s,
      cmd heading: 75.697627 deg,
      new cmd heading: 75.678342 deg.

2025-10-27T15:07:58.376Z,1761577678.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320836 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:07:58.768Z,1761577678.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:07:58.770Z,1761577678.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:07:58.789Z,1761577678.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 250.858719 m,
      bearing: 72.210769 deg,
      approach rate: -0.834104 m/s,
      LOS rate: -0.012253 deg/s,
      cmd heading: 75.678346 deg,
      new cmd heading: 75.662659 deg.

2025-10-27T15:07:58.790Z,1761577678.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320562 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:07:58.904Z,1761577678.904 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:07:58.904Z,1761577678.904 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:07:58.904Z,1761577678.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:07:59.138Z,1761577679.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247459,-0.958685,-0.140313],[0.967890,0.237989,0.080936],[-0.044199,-0.155836,0.986794]]
2025-10-27T15:07:59.158Z,1761577679.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.945589
2025-10-27T15:07:59.169Z,1761577679.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:07:59.173Z,1761577679.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 250.550613 m,
      bearing: 72.205919 deg,
      approach rate: -0.774691 m/s,
      LOS rate: -0.012211 deg/s,
      cmd heading: 75.662657 deg,
      new cmd heading: 75.648087 deg.

2025-10-27T15:07:59.176Z,1761577679.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320308 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:07:59.413Z,1761577679.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200948
2025-10-27T15:07:59.538Z,1761577679.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246459,-0.959171,-0.138737],[0.968135,0.237104,0.080605],[-0.044419,-0.154182,0.987043]]
2025-10-27T15:07:59.572Z,1761577679.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:07:59.574Z,1761577679.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 250.223724 m,
      bearing: 72.200679 deg,
      approach rate: -0.810283 m/s,
      LOS rate: -0.013004 deg/s,
      cmd heading: 75.648088 deg,
      new cmd heading: 75.632350 deg.

2025-10-27T15:07:59.575Z,1761577679.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320034 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:07:59.661Z,1761577679.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449742
2025-10-27T15:07:59.912Z,1761577679.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700144
2025-10-27T15:07:59.942Z,1761577679.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245632,-0.959384,-0.138732],[0.968346,0.236293,0.080447],[-0.044398,-0.154101,0.987057]]
2025-10-27T15:08:00.003Z,1761577680.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:00.005Z,1761577680.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 249.897888 m,
      bearing: 72.197532 deg,
      approach rate: -0.763043 m/s,
      LOS rate: -0.007381 deg/s,
      cmd heading: 75.632351 deg,
      new cmd heading: 75.622896 deg.

2025-10-27T15:08:00.006Z,1761577680.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319869 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:00.164Z,1761577680.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952714
2025-10-27T15:08:00.347Z,1761577680.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244120,-0.960070,-0.136644],[0.968729,0.234985,0.079660],[-0.044370,-0.151818,0.987412]]
2025-10-27T15:08:00.365Z,1761577680.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:00.372Z,1761577680.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 249.591583 m,
      bearing: 72.194452 deg,
      approach rate: -0.835126 m/s,
      LOS rate: -0.008407 deg/s,
      cmd heading: 75.622898 deg,
      new cmd heading: 75.613647 deg.

2025-10-27T15:08:00.373Z,1761577680.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319707 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:00.417Z,1761577680.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204681
2025-10-27T15:08:00.680Z,1761577680.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467965
2025-10-27T15:08:00.756Z,1761577680.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243122,-0.960625,-0.134507],[0.968964,0.234122,0.079351],[-0.044735,-0.149625,0.987730]]
2025-10-27T15:08:00.830Z,1761577680.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:00.836Z,1761577680.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:00.839Z,1761577680.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 249.242645 m,
      bearing: 72.191920 deg,
      approach rate: -0.741449 m/s,
      LOS rate: -0.005388 deg/s,
      cmd heading: 75.613650 deg,
      new cmd heading: 75.606043 deg.

2025-10-27T15:08:00.855Z,1761577680.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319574 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:00.921Z,1761577680.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708891
2025-10-27T15:08:01.174Z,1761577681.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961737
2025-10-27T15:08:01.193Z,1761577681.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242267,-0.960944,-0.133767],[0.969171,0.233317,0.079194],[-0.044890,-0.148829,0.987843]]
2025-10-27T15:08:01.212Z,1761577681.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:01.215Z,1761577681.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 248.952515 m,
      bearing: 72.189748 deg,
      approach rate: -0.773304 m/s,
      LOS rate: -0.005793 deg/s,
      cmd heading: 75.606041 deg,
      new cmd heading: 75.599521 deg.

2025-10-27T15:08:01.217Z,1761577681.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319461 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:01.425Z,1761577681.425 [DAT](INFO): DAT read: Rx Time:15:07:59.8735

2025-10-27T15:08:01.426Z,1761577681.426 [DAT](INFO): Rx dataTimestamp_ set to:1761577681.425203
2025-10-27T15:08:01.429Z,1761577681.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216657
2025-10-27T15:08:01.578Z,1761577681.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241942,-0.961093,-0.133285],[0.969239,0.232993,0.079316],[-0.045175,-0.148375,0.987899]]
2025-10-27T15:08:01.601Z,1761577681.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:01.603Z,1761577681.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 248.661713 m,
      bearing: 72.187544 deg,
      approach rate: -0.750232 m/s,
      LOS rate: -0.005693 deg/s,
      cmd heading: 75.599519 deg,
      new cmd heading: 75.592898 deg.

2025-10-27T15:08:01.604Z,1761577681.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319345 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:01.678Z,1761577681.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466758
2025-10-27T15:08:01.936Z,1761577681.936 [DAT](INFO): DAT read: 15:07:59.8735 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 404, 0.15, 3.061, 1.423,-2.807, 2.973, PHS= 0.191,-1.504, 0.460, RAW= 157.3,   9.3, CAL= 157.0,   9.9, ROT= 353.0,  -9.9

2025-10-27T15:08:01.937Z,1761577681.937 [DAT](INFO): got valid direction response:
 15:07:59.8735 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 404, 0.15, 3.061, 1.423,-2.807, 2.973, PHS= 0.191,-1.504, 0.460, RAW= 157.3,   9.3, CAL= 157.0,   9.9, ROT= 353.0,  -9.9

2025-10-27T15:08:01.938Z,1761577681.938 [DAT](INFO): DAT read: Bearing 227.4, -11.2 (Local)

2025-10-27T15:08:01.938Z,1761577681.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.4, -11.2 (Local)

2025-10-27T15:08:01.941Z,1761577681.941 [DAT](INFO): DAT read: Range 11 to 50 : 222.0 m  (Round-trip  296.0 ms) speed  0.3 m/s

2025-10-27T15:08:01.942Z,1761577681.942 [DAT](INFO): DAT read: user:949>

2025-10-27T15:08:01.942Z,1761577681.942 [DAT](INFO): DAT read: Tx time:15:08:00.9733

2025-10-27T15:08:01.943Z,1761577681.943 [DAT](INFO): Ping request sent.
2025-10-27T15:08:01.943Z,1761577681.943 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:01.943Z,1761577681.943 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:01.944Z,1761577681.944 [DAT](INFO): direction in FSK: [0.977766,-0.120055,0.171929]
2025-10-27T15:08:01.945Z,1761577681.945 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:01.945Z,1761577681.945 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:01.984Z,1761577681.984 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:01.985Z,1761577681.985 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:02.017Z,1761577682.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242033,-0.961064,-0.133326],[0.969203,0.233038,0.079614],[-0.045444,-0.148489,0.987869]]
2025-10-27T15:08:02.138Z,1761577682.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 222.000000 m,
 deltaT: 3.780699 s,
 deltaX: -40.799988 m,
 approachRate: -10.791652 m/s,
 rangeRepo size: 4
2025-10-27T15:08:02.138Z,1761577682.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:02.142Z,1761577682.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 248.287384 m,
      bearing: 72.186623 deg,
      approach rate: -0.695296 m/s,
      LOS rate: -0.001714 deg/s,
      cmd heading: 75.592900 deg,
      new cmd heading: 75.590132 deg.

2025-10-27T15:08:02.149Z,1761577682.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319297 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:02.478Z,1761577682.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242175,-0.961016,-0.133418],[0.969157,0.233136,0.079890],[-0.045671,-0.148650,0.987835]]
2025-10-27T15:08:02.508Z,1761577682.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:02.515Z,1761577682.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 248.015732 m,
      bearing: 72.185962 deg,
      approach rate: -0.732106 m/s,
      LOS rate: -0.001783 deg/s,
      cmd heading: 75.590134 deg,
      new cmd heading: 75.588149 deg.

2025-10-27T15:08:02.516Z,1761577682.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319262 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:02.892Z,1761577682.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243008,-0.960702,-0.134158],[0.968935,0.233851,0.080484],[-0.045948,-0.149548,0.987686]]
2025-10-27T15:08:02.972Z,1761577682.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:02.974Z,1761577682.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:03.004Z,1761577683.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 247.689758 m,
      bearing: 72.188271 deg,
      approach rate: -0.699676 m/s,
      LOS rate: 0.004961 deg/s,
      cmd heading: 75.588146 deg,
      new cmd heading: 75.595081 deg.

2025-10-27T15:08:03.004Z,1761577683.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319383 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:03.192Z,1761577683.192 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:03.192Z,1761577683.192 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:03.192Z,1761577683.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:03.369Z,1761577683.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244239,-0.960317,-0.134681],[0.968601,0.234938,0.081344],[-0.046474,-0.150319,0.987545]]
2025-10-27T15:08:03.400Z,1761577683.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:03.402Z,1761577683.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 247.396133 m,
      bearing: 72.190442 deg,
      approach rate: -0.689819 m/s,
      LOS rate: 0.005108 deg/s,
      cmd heading: 75.595079 deg,
      new cmd heading: 75.601602 deg.

2025-10-27T15:08:03.404Z,1761577683.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319497 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:03.444Z,1761577683.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501113
2025-10-27T15:08:03.698Z,1761577683.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754952
2025-10-27T15:08:03.769Z,1761577683.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245769,-0.959740,-0.136002],[0.968184,0.236235,0.082540],[-0.047089,-0.151961,0.987264]]
2025-10-27T15:08:03.821Z,1761577683.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:03.824Z,1761577683.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 247.106857 m,
      bearing: 72.193089 deg,
      approach rate: -0.686477 m/s,
      LOS rate: 0.006289 deg/s,
      cmd heading: 75.601602 deg,
      new cmd heading: 75.609553 deg.

2025-10-27T15:08:03.825Z,1761577683.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319636 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:03.948Z,1761577683.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004936
2025-10-27T15:08:04.182Z,1761577684.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247866,-0.959078,-0.136865],[0.967604,0.238077,0.084040],[-0.048017,-0.153262,0.987018]]
2025-10-27T15:08:04.200Z,1761577684.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257078
2025-10-27T15:08:04.202Z,1761577684.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:04.205Z,1761577684.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 246.848389 m,
      bearing: 72.195590 deg,
      approach rate: -0.679073 m/s,
      LOS rate: 0.006578 deg/s,
      cmd heading: 75.609552 deg,
      new cmd heading: 75.617063 deg.

2025-10-27T15:08:04.206Z,1761577684.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319767 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:04.452Z,1761577684.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509066
2025-10-27T15:08:04.578Z,1761577684.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250059,-0.958272,-0.138509],[0.966997,0.239953,0.085665],[-0.048855,-0.155359,0.986649]]
2025-10-27T15:08:04.620Z,1761577684.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:04.622Z,1761577684.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 246.574249 m,
      bearing: 72.198394 deg,
      approach rate: -0.656384 m/s,
      LOS rate: 0.006719 deg/s,
      cmd heading: 75.617065 deg,
      new cmd heading: 75.625484 deg.

2025-10-27T15:08:04.624Z,1761577684.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319914 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:04.707Z,1761577684.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763277
2025-10-27T15:08:04.956Z,1761577684.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012860
2025-10-27T15:08:04.982Z,1761577684.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251795,-0.957834,-0.138398],[0.966500,0.241524,0.086853],[-0.049764,-0.155631,0.986561]]
2025-10-27T15:08:05.026Z,1761577685.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:05.028Z,1761577685.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:05.036Z,1761577685.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 246.296112 m,
      bearing: 72.200749 deg,
      approach rate: -0.680928 m/s,
      LOS rate: 0.005773 deg/s,
      cmd heading: 75.625487 deg,
      new cmd heading: 75.632561 deg.

2025-10-27T15:08:05.037Z,1761577685.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320037 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:05.208Z,1761577685.208 [DAT](INFO): DAT read: Rx Time:15:08:03.7217

2025-10-27T15:08:05.208Z,1761577685.208 [DAT](INFO): Rx dataTimestamp_ set to:1761577685.208163
2025-10-27T15:08:05.209Z,1761577685.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266072
2025-10-27T15:08:05.386Z,1761577685.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253449,-0.957448,-0.138044],[0.966030,0.243063,0.087788],[-0.050499,-0.155604,0.986528]]
2025-10-27T15:08:05.417Z,1761577685.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.58 m.
2025-10-27T15:08:05.420Z,1761577685.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.576233 m,
      nav range: 246.042419 m,
      bearing: 72.203004 deg,
      approach rate: -0.652107 m/s,
      LOS rate: 0.005803 deg/s,
      cmd heading: 75.632563 deg,
      new cmd heading: 75.639335 deg.

2025-10-27T15:08:05.421Z,1761577685.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320156 target range: 261.576233 and range: 262.80 m.
2025-10-27T15:08:05.460Z,1761577685.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517319
2025-10-27T15:08:05.749Z,1761577685.749 [DAT](INFO): DAT read: 15:08:03.7217 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 155, 0.37, 0.262,-1.301, 0.614, 0.121, PHS= 0.243,-1.378, 0.449, RAW= 155.9,   8.0, CAL= 155.5,   8.3, ROT= 354.5,  -8.3

2025-10-27T15:08:05.752Z,1761577685.752 [DAT](INFO): got valid direction response:
 15:08:03.7217 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 155, 0.37, 0.262,-1.301, 0.614, 0.121, PHS= 0.243,-1.378, 0.449, RAW= 155.9,   8.0, CAL= 155.5,   8.3, ROT= 354.5,  -8.3

2025-10-27T15:08:05.753Z,1761577685.753 [DAT](INFO): DAT read: Bearing 225.7,  -9.5 (Local)

2025-10-27T15:08:05.753Z,1761577685.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.7,  -9.5 (Local)

2025-10-27T15:08:05.755Z,1761577685.755 [DAT](INFO): DAT read: Range 11 to 50 : 258.2 m  (Round-trip  344.3 ms) speed  0.5 m/s

2025-10-27T15:08:05.756Z,1761577685.756 [DAT](INFO): DAT read: user:950>

2025-10-27T15:08:05.757Z,1761577685.757 [DAT](INFO): DAT read: Tx time:15:08:04.8233

2025-10-27T15:08:05.757Z,1761577685.757 [DAT](INFO): Ping request sent.
2025-10-27T15:08:05.757Z,1761577685.757 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:05.758Z,1761577685.758 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:05.759Z,1761577685.759 [DAT](INFO): direction in FSK: [0.984970,-0.094842,0.144356]
2025-10-27T15:08:05.759Z,1761577685.759 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:05.759Z,1761577685.759 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:05.762Z,1761577685.762 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:05.763Z,1761577685.763 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:05.853Z,1761577685.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256347,-0.957324,-0.133483],[0.965210,0.246167,0.088157],[-0.051536,-0.151438,0.987122]]
2025-10-27T15:08:05.959Z,1761577685.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.200012 m,
      deltaT: 7.565591 s,
      deltaX: -4.599976 m,
      approachRate: -0.608013 m/s,
      rangeRepo size: 4

2025-10-27T15:08:05.961Z,1761577685.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 256.997528 m,
      bearing: 70.982359 deg,
      lat: 36.779235 deg,
      lon: -121.859171 deg,
      deltaT: 7.565591 s,
      deltaX: -4.578705 m,
      approachRate: -0.605201 m/s,
      posRepo size: 4

2025-10-27T15:08:05.962Z,1761577685.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:05.977Z,1761577685.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 244.976852 m,
      bearing: 72.679655 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005803 deg/s,
      cmd heading: 75.639339 deg,
      new cmd heading: 75.648755 deg.

2025-10-27T15:08:05.978Z,1761577685.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320320 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:06.296Z,1761577686.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257841,-0.956982,-0.133053],[0.964768,0.247549,0.089117],[-0.052346,-0.151343,0.987094]]
2025-10-27T15:08:06.315Z,1761577686.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:06.317Z,1761577686.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 244.733795 m,
      bearing: 72.682276 deg,
      approach rate: -0.681365 m/s,
      LOS rate: 0.007356 deg/s,
      cmd heading: 75.648757 deg,
      new cmd heading: 75.656629 deg.

2025-10-27T15:08:06.318Z,1761577686.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320457 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:06.717Z,1761577686.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259185,-0.956699,-0.132479],[0.964368,0.248810,0.089927],[-0.053071,-0.151066,0.987098]]
2025-10-27T15:08:06.799Z,1761577686.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:06.802Z,1761577686.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 244.419556 m,
      bearing: 72.685777 deg,
      approach rate: -0.648084 m/s,
      LOS rate: 0.007230 deg/s,
      cmd heading: 75.656633 deg,
      new cmd heading: 75.667149 deg.

2025-10-27T15:08:06.803Z,1761577686.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320641 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:07.141Z,1761577687.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259949,-0.956651,-0.131322],[0.964138,0.249599,0.090215],[-0.053526,-0.150064,0.987226]]
2025-10-27T15:08:07.194Z,1761577687.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:07.197Z,1761577687.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:07.200Z,1761577687.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 244.137589 m,
      bearing: 72.687319 deg,
      approach rate: -0.709773 m/s,
      LOS rate: 0.003886 deg/s,
      cmd heading: 75.667151 deg,
      new cmd heading: 75.671782 deg.

2025-10-27T15:08:07.201Z,1761577687.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320722 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:07.237Z,1761577687.237 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:07.237Z,1761577687.237 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:07.237Z,1761577687.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:07.488Z,1761577687.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730579
2025-10-27T15:08:07.540Z,1761577687.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260716,-0.956519,-0.130760],[0.963910,0.250351,0.090562],[-0.053888,-0.149652,0.987269]]
2025-10-27T15:08:07.558Z,1761577687.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:07.561Z,1761577687.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 243.885147 m,
      bearing: 72.688751 deg,
      approach rate: -0.698608 m/s,
      LOS rate: 0.003967 deg/s,
      cmd heading: 75.671782 deg,
      new cmd heading: 75.676082 deg.

2025-10-27T15:08:07.562Z,1761577687.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320797 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:07.743Z,1761577687.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985235
2025-10-27T15:08:07.953Z,1761577687.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260930,-0.956358,-0.131511],[0.963841,0.250457,0.091007],[-0.054097,-0.150502,0.987129]]
2025-10-27T15:08:07.990Z,1761577687.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:07.992Z,1761577687.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234691
2025-10-27T15:08:08.011Z,1761577688.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 243.570648 m,
      bearing: 72.688017 deg,
      approach rate: -0.728396 m/s,
      LOS rate: -0.001702 deg/s,
      cmd heading: 75.676085 deg,
      new cmd heading: 75.673880 deg.

2025-10-27T15:08:08.012Z,1761577688.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320758 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:08.245Z,1761577688.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487054
2025-10-27T15:08:08.346Z,1761577688.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261273,-0.956277,-0.131415],[0.963737,0.250774,0.091232],[-0.054287,-0.150486,0.987120]]
2025-10-27T15:08:08.375Z,1761577688.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:08.378Z,1761577688.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 243.289795 m,
      bearing: 72.687384 deg,
      approach rate: -0.728999 m/s,
      LOS rate: -0.001646 deg/s,
      cmd heading: 75.673879 deg,
      new cmd heading: 75.671977 deg.

2025-10-27T15:08:08.379Z,1761577688.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320725 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:08.496Z,1761577688.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738638
2025-10-27T15:08:08.753Z,1761577688.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993039
2025-10-27T15:08:08.865Z,1761577688.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:08.868Z,1761577688.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 242.902588 m,
      bearing: 72.682142 deg,
      approach rate: -0.790993 m/s,
      LOS rate: -0.010726 deg/s,
      cmd heading: 75.671980 deg,
      new cmd heading: 75.656229 deg.

2025-10-27T15:08:08.873Z,1761577688.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320450 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:09.000Z,1761577689.000 [DAT](INFO): DAT read: Rx Time:15:08:07.5422

2025-10-27T15:08:09.001Z,1761577689.001 [DAT](INFO): Rx dataTimestamp_ set to:1761577689.000279
2025-10-27T15:08:09.001Z,1761577689.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243773
2025-10-27T15:08:09.187Z,1761577689.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259742,-0.956663,-0.131641],[0.964186,0.249345,0.090400],[-0.053658,-0.150407,0.987167]]
2025-10-27T15:08:09.203Z,1761577689.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:09.205Z,1761577689.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:09.208Z,1761577689.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 242.633209 m,
      bearing: 72.678383 deg,
      approach rate: -0.790581 m/s,
      LOS rate: -0.011043 deg/s,
      cmd heading: 75.656230 deg,
      new cmd heading: 75.644942 deg.

2025-10-27T15:08:09.209Z,1761577689.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320253 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:09.252Z,1761577689.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494666
2025-10-27T15:08:09.510Z,1761577689.510 [DAT](INFO): DAT read: 15:08:07.5422 LVL= 32752, 32753, 32754, 31555, AGC= 62, IDX= 132,-0.25,-0.317,-1.631,-0.099,-0.911, PHS= 0.696,-0.674, 0.768, RAW= 152.5, -11.2, CAL= 153.5, -13.0, ROT= 356.5,  13.0

2025-10-27T15:08:09.515Z,1761577689.515 [DAT](INFO): got valid direction response:
 15:08:07.5422 LVL= 32752, 32753, 32754, 31555, AGC= 62, IDX= 132,-0.25,-0.317,-1.631,-0.099,-0.911, PHS= 0.696,-0.674, 0.768, RAW= 152.5, -11.2, CAL= 153.5, -13.0, ROT= 356.5,  13.0

2025-10-27T15:08:09.516Z,1761577689.516 [DAT](INFO): DAT read: Bearing 204.4,  -4.2 (Local)

2025-10-27T15:08:09.516Z,1761577689.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.4,  -4.2 (Local)

2025-10-27T15:08:09.517Z,1761577689.517 [DAT](INFO): DAT read: Range 11 to 50 : 236.1 m  (Round-trip  314.8 ms) speed  0.7 m/s

2025-10-27T15:08:09.518Z,1761577689.518 [DAT](INFO): DAT read: user:951>

2025-10-27T15:08:09.555Z,1761577689.555 [DAT](INFO): DAT read: Tx time:15:08:08.6733

2025-10-27T15:08:09.556Z,1761577689.556 [DAT](INFO): Ping request sent.
2025-10-27T15:08:09.556Z,1761577689.556 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:09.556Z,1761577689.556 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:09.557Z,1761577689.557 [DAT](INFO): direction in FSK: [0.972553,-0.059484,-0.224951]
2025-10-27T15:08:09.557Z,1761577689.557 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:09.557Z,1761577689.557 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:09.569Z,1761577689.569 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:09.570Z,1761577689.570 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:09.611Z,1761577689.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258795,-0.957056,-0.130651],[0.964466,0.248579,0.089515],[-0.053194,-0.149174,0.987379]]
2025-10-27T15:08:09.696Z,1761577689.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 236.100006 m,
 deltaT: 3.790842 s,
 deltaX: -22.100006 m,
 approachRate: -5.829841 m/s,
 rangeRepo size: 4
2025-10-27T15:08:09.696Z,1761577689.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:09.703Z,1761577689.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 242.266724 m,
      bearing: 72.673172 deg,
      approach rate: -0.755173 m/s,
      LOS rate: -0.010755 deg/s,
      cmd heading: 75.644939 deg,
      new cmd heading: 75.629281 deg.

2025-10-27T15:08:09.704Z,1761577689.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319980 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:10.055Z,1761577690.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257339,-0.957479,-0.130424],[0.964893,0.247271,0.088540],[-0.052525,-0.148630,0.987497]]
2025-10-27T15:08:10.100Z,1761577690.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:10.103Z,1761577690.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 241.908020 m,
      bearing: 72.666590 deg,
      approach rate: -0.876056 m/s,
      LOS rate: -0.016099 deg/s,
      cmd heading: 75.629284 deg,
      new cmd heading: 75.609510 deg.

2025-10-27T15:08:10.104Z,1761577690.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319635 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:10.469Z,1761577690.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255200,-0.957981,-0.130939],[0.965517,0.245282,0.087252],[-0.051469,-0.148691,0.987543]]
2025-10-27T15:08:10.487Z,1761577690.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:10.490Z,1761577690.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 241.586105 m,
      bearing: 72.660495 deg,
      approach rate: -0.832811 m/s,
      LOS rate: -0.015790 deg/s,
      cmd heading: 75.609511 deg,
      new cmd heading: 75.591201 deg.

2025-10-27T15:08:10.490Z,1761577690.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319315 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:10.862Z,1761577690.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253193,-0.958466,-0.131289],[0.966103,0.243442,0.085917],[-0.050387,-0.148592,0.987614]]
2025-10-27T15:08:10.914Z,1761577690.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:10.917Z,1761577690.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 241.248169 m,
      bearing: 72.653910 deg,
      approach rate: -0.790715 m/s,
      LOS rate: -0.015428 deg/s,
      cmd heading: 75.591199 deg,
      new cmd heading: 75.571418 deg.

2025-10-27T15:08:10.918Z,1761577690.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318970 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:11.266Z,1761577691.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250960,-0.959046,-0.131337],[0.966737,0.241393,0.084549],[-0.049383,-0.148186,0.987726]]
2025-10-27T15:08:11.284Z,1761577691.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:11.286Z,1761577691.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:11.289Z,1761577691.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 240.923050 m,
      bearing: 72.647377 deg,
      approach rate: -0.874639 m/s,
      LOS rate: -0.017600 deg/s,
      cmd heading: 75.571419 deg,
      new cmd heading: 75.551792 deg.

2025-10-27T15:08:11.290Z,1761577691.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318627 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:11.532Z,1761577691.532 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:11.532Z,1761577691.532 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:11.532Z,1761577691.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:11.672Z,1761577691.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249220,-0.959251,-0.133140],[0.967215,0.239607,0.084165],[-0.048834,-0.149750,0.987517]]
2025-10-27T15:08:11.690Z,1761577691.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:11.713Z,1761577691.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 240.585907 m,
      bearing: 72.640438 deg,
      approach rate: -0.834139 m/s,
      LOS rate: -0.017192 deg/s,
      cmd heading: 75.551789 deg,
      new cmd heading: 75.530943 deg.

2025-10-27T15:08:11.714Z,1761577691.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318264 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:11.787Z,1761577691.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230587
2025-10-27T15:08:12.037Z,1761577692.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480891
2025-10-27T15:08:12.116Z,1761577692.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246934,-0.959949,-0.132366],[0.967846,0.237563,0.082696],[-0.047939,-0.148530,0.987745]]
2025-10-27T15:08:12.182Z,1761577692.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:12.184Z,1761577692.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 240.162186 m,
      bearing: 72.631560 deg,
      approach rate: -0.861914 m/s,
      LOS rate: -0.018090 deg/s,
      cmd heading: 75.530943 deg,
      new cmd heading: 75.504264 deg.

2025-10-27T15:08:12.185Z,1761577692.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.317798 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:12.289Z,1761577692.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732573
2025-10-27T15:08:12.517Z,1761577692.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244771,-0.960622,-0.131500],[0.968426,0.235604,0.081496],[-0.047305,-0.147296,0.987961]]
2025-10-27T15:08:12.540Z,1761577692.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984317
2025-10-27T15:08:12.549Z,1761577692.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:12.552Z,1761577692.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 239.846878 m,
      bearing: 72.624760 deg,
      approach rate: -0.857322 m/s,
      LOS rate: -0.018512 deg/s,
      cmd heading: 75.504265 deg,
      new cmd heading: 75.483839 deg.

2025-10-27T15:08:12.553Z,1761577692.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.317442 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:12.796Z,1761577692.796 [DAT](INFO): DAT read: Rx Time:15:08:11.3880

2025-10-27T15:08:12.798Z,1761577692.798 [DAT](INFO): Rx dataTimestamp_ set to:1761577692.796527
2025-10-27T15:08:12.800Z,1761577692.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243608
2025-10-27T15:08:12.923Z,1761577692.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242740,-0.961087,-0.131869],[0.968967,0.233664,0.080655],[-0.046703,-0.147355,0.987980]]
2025-10-27T15:08:13.045Z,1761577693.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488874
2025-10-27T15:08:13.050Z,1761577693.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-10-27T15:08:13.053Z,1761577693.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.997528 m,
      nav range: 239.437637 m,
      bearing: 72.616650 deg,
      approach rate: -0.817243 m/s,
      LOS rate: -0.016224 deg/s,
      cmd heading: 75.483842 deg,
      new cmd heading: 75.459469 deg.

2025-10-27T15:08:13.054Z,1761577693.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.317016 target range: 256.997528 and range: 258.20 m.
2025-10-27T15:08:13.305Z,1761577693.305 [DAT](INFO): DAT read: 15:08:11.3880 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 129, 0.48, 1.945, 0.369, 2.367, 1.871, PHS= 0.176,-1.457, 0.453, RAW= 157.7,   9.3, CAL= 157.5,   9.9, ROT= 352.5,  -9.9

2025-10-27T15:08:13.306Z,1761577693.306 [DAT](INFO): got valid direction response:
 15:08:11.3880 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 129, 0.48, 1.945, 0.369, 2.367, 1.871, PHS= 0.176,-1.457, 0.453, RAW= 157.7,   9.3, CAL= 157.5,   9.9, ROT= 352.5,  -9.9

2025-10-27T15:08:13.308Z,1761577693.308 [DAT](INFO): DAT read: Bearing 226.3, -11.7 (Local)

2025-10-27T15:08:13.309Z,1761577693.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.3, -11.7 (Local)

2025-10-27T15:08:13.310Z,1761577693.310 [DAT](INFO): DAT read: Range 11 to 50 : 232.9 m  (Round-trip  310.6 ms) speed  0.5 m/s

2025-10-27T15:08:13.311Z,1761577693.311 [DAT](INFO): DAT read: user:952>

2025-10-27T15:08:13.312Z,1761577693.312 [DAT](INFO): DAT read: Tx time:15:08:12.4733

2025-10-27T15:08:13.312Z,1761577693.312 [DAT](INFO): Ping request sent.
2025-10-27T15:08:13.312Z,1761577693.312 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:13.312Z,1761577693.312 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:13.313Z,1761577693.313 [DAT](INFO): direction in FSK: [0.976682,-0.128583,0.171929]
2025-10-27T15:08:13.314Z,1761577693.314 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:13.314Z,1761577693.314 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:13.317Z,1761577693.317 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:13.318Z,1761577693.318 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:13.410Z,1761577693.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241514,-0.961080,-0.134153],[0.969295,0.232337,0.080538],[-0.046234,-0.149485,0.987682]]
2025-10-27T15:08:13.468Z,1761577693.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 232.899994 m,
      deltaT: 7.584328 s,
      deltaX: -25.300018 m,
      approachRate: -3.335829 m/s,
      rangeRepo size: 4

2025-10-27T15:08:13.470Z,1761577693.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 231.819702 m,
      bearing: 70.127247 deg,
      lat: 36.779294 deg,
      lon: -121.859311 deg,
      deltaT: 7.584328 s,
      deltaX: -25.177826 m,
      approachRate: -3.319717 m/s,
      posRepo size: 4

2025-10-27T15:08:13.470Z,1761577693.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.82 m.
2025-10-27T15:08:13.485Z,1761577693.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.819702 m,
      nav range: 229.406830 m,
      bearing: 70.126438 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016224 deg/s,
      cmd heading: 75.459465 deg,
      new cmd heading: 75.439384 deg.

2025-10-27T15:08:13.486Z,1761577693.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316666 target range: 231.819702 and range: 232.90 m.
2025-10-27T15:08:13.859Z,1761577693.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240152,-0.961179,-0.135875],[0.969674,0.230984,0.079866],[-0.045381,-0.150934,0.987502]]
2025-10-27T15:08:13.898Z,1761577693.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:13.901Z,1761577693.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.82 m.
2025-10-27T15:08:13.904Z,1761577693.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.819702 m,
      nav range: 229.047409 m,
      bearing: 70.117166 deg,
      approach rate: -0.820608 m/s,
      LOS rate: -0.021202 deg/s,
      cmd heading: 75.439385 deg,
      new cmd heading: 75.411526 deg.

2025-10-27T15:08:13.905Z,1761577693.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316179 target range: 231.819702 and range: 232.90 m.
2025-10-27T15:08:14.052Z,1761577694.052 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:14.052Z,1761577694.052 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:14.052Z,1761577694.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:14.262Z,1761577694.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.82 m.
2025-10-27T15:08:14.265Z,1761577694.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.819702 m,
      nav range: 228.773315 m,
      bearing: 70.110076 deg,
      approach rate: -0.759193 m/s,
      LOS rate: -0.019661 deg/s,
      cmd heading: 75.411524 deg,
      new cmd heading: 75.390230 deg.

2025-10-27T15:08:14.266Z,1761577694.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315808 target range: 231.819702 and range: 232.90 m.
2025-10-27T15:08:14.304Z,1761577694.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992185
2025-10-27T15:08:14.556Z,1761577694.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243592
2025-10-27T15:08:14.615Z,1761577694.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240229,-0.960393,-0.141190],[0.969673,0.230677,0.080768],[-0.045000,-0.156310,0.986682]]
2025-10-27T15:08:14.651Z,1761577694.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.82 m.
2025-10-27T15:08:14.655Z,1761577694.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.819702 m,
      nav range: 228.463959 m,
      bearing: 70.102077 deg,
      approach rate: -0.795235 m/s,
      LOS rate: -0.020590 deg/s,
      cmd heading: 75.390228 deg,
      new cmd heading: 75.366198 deg.

2025-10-27T15:08:14.656Z,1761577694.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315388 target range: 231.819702 and range: 232.90 m.
2025-10-27T15:08:14.810Z,1761577694.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498064
2025-10-27T15:08:15.018Z,1761577695.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240935,-0.959862,-0.143583],[0.969491,0.231145,0.081606],[-0.045142,-0.158864,0.986268]]
2025-10-27T15:08:15.060Z,1761577695.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747845
2025-10-27T15:08:15.089Z,1761577695.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.82 m.
2025-10-27T15:08:15.096Z,1761577695.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.819702 m,
      nav range: 228.138245 m,
      bearing: 70.097879 deg,
      approach rate: -0.743085 m/s,
      LOS rate: -0.009590 deg/s,
      cmd heading: 75.366199 deg,
      new cmd heading: 75.353588 deg.

2025-10-27T15:08:15.097Z,1761577695.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315168 target range: 231.819702 and range: 232.90 m.
2025-10-27T15:08:15.312Z,1761577695.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999605
2025-10-27T15:08:15.432Z,1761577695.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242370,-0.959186,-0.145666],[0.969106,0.232281,0.082942],[-0.045721,-0.161268,0.985851]]
2025-10-27T15:08:15.455Z,1761577695.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.82 m.
2025-10-27T15:08:15.458Z,1761577695.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.819702 m,
      nav range: 227.860306 m,
      bearing: 70.094398 deg,
      approach rate: -0.759363 m/s,
      LOS rate: -0.009523 deg/s,
      cmd heading: 75.353591 deg,
      new cmd heading: 75.343135 deg.

2025-10-27T15:08:15.459Z,1761577695.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314986 target range: 231.819702 and range: 232.90 m.
2025-10-27T15:08:15.565Z,1761577695.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252537
2025-10-27T15:08:15.816Z,1761577695.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503627
2025-10-27T15:08:15.952Z,1761577695.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:15.954Z,1761577695.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.82 m.
2025-10-27T15:08:15.957Z,1761577695.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.819702 m,
      nav range: 227.511673 m,
      bearing: 70.093828 deg,
      approach rate: -0.698571 m/s,
      LOS rate: -0.001144 deg/s,
      cmd heading: 75.343134 deg,
      new cmd heading: 75.341420 deg.

2025-10-27T15:08:15.958Z,1761577695.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314956 target range: 231.819702 and range: 232.90 m.
2025-10-27T15:08:16.068Z,1761577696.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756171
2025-10-27T15:08:16.270Z,1761577696.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248890,-0.956515,-0.152096],[0.967339,0.237707,0.088039],[-0.048056,-0.169040,0.984437]]
2025-10-27T15:08:16.289Z,1761577696.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.82 m.
2025-10-27T15:08:16.292Z,1761577696.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.819702 m,
      nav range: 227.277451 m,
      bearing: 70.093852 deg,
      approach rate: -0.699947 m/s,
      LOS rate: 0.000071 deg/s,
      cmd heading: 75.341419 deg,
      new cmd heading: 75.341491 deg.

2025-10-27T15:08:16.293Z,1761577696.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314957 target range: 231.819702 and range: 232.90 m.
2025-10-27T15:08:16.320Z,1761577696.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007959
2025-10-27T15:08:16.572Z,1761577696.572 [DAT](INFO): DAT read: Rx Time:15:08:15.2122

2025-10-27T15:08:16.572Z,1761577696.572 [DAT](INFO): Rx dataTimestamp_ set to:1761577696.572113
2025-10-27T15:08:16.573Z,1761577696.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260747
2025-10-27T15:08:16.806Z,1761577696.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.82 m.
2025-10-27T15:08:16.809Z,1761577696.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.819702 m,
      nav range: 226.926422 m,
      bearing: 70.093888 deg,
      approach rate: -0.678486 m/s,
      LOS rate: 0.000069 deg/s,
      cmd heading: 75.341488 deg,
      new cmd heading: 75.341595 deg.

2025-10-27T15:08:16.810Z,1761577696.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314959 target range: 231.819702 and range: 232.90 m.
2025-10-27T15:08:16.824Z,1761577696.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511735
2025-10-27T15:08:17.082Z,1761577697.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769245
2025-10-27T15:08:17.250Z,1761577697.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253109,-0.955560,-0.151134],[0.966147,0.241599,0.090501],[-0.049965,-0.168924,0.984362]]
2025-10-27T15:08:17.288Z,1761577697.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.82 m.
2025-10-27T15:08:17.290Z,1761577697.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.819702 m,
      nav range: 226.609894 m,
      bearing: 70.098598 deg,
      approach rate: -0.657340 m/s,
      LOS rate: 0.009795 deg/s,
      cmd heading: 75.341597 deg,
      new cmd heading: 75.355746 deg.

2025-10-27T15:08:17.308Z,1761577697.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315206 target range: 231.819702 and range: 232.90 m.
2025-10-27T15:08:17.334Z,1761577697.334 [DAT](INFO): DAT read: 15:08:15.2122 LVL= 30624, 32753, 27506, 29171, AGC= 59, IDX= 176,-0.19,-0.232,-1.683,-0.010,-0.907, PHS= 0.777,-0.731, 0.853, RAW= 152.4, -11.6, CAL= 153.5, -13.4, ROT= 356.5,  13.4

2025-10-27T15:08:17.335Z,1761577697.335 [DAT](INFO): got valid direction response:
 15:08:15.2122 LVL= 30624, 32753, 27506, 29171, AGC= 59, IDX= 176,-0.19,-0.232,-1.683,-0.010,-0.907, PHS= 0.777,-0.731, 0.853, RAW= 152.4, -11.6, CAL= 153.5, -13.4, ROT= 356.5,  13.4

2025-10-27T15:08:17.336Z,1761577697.336 [DAT](INFO): DAT read: Bearing 203.1,  -3.9 (Local)

2025-10-27T15:08:17.336Z,1761577697.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.1,  -3.9 (Local)

2025-10-27T15:08:17.338Z,1761577697.338 [DAT](INFO): DAT read: Range 11 to 50 : 251.0 m  (Round-trip  334.7 ms) speed  0.1 m/s

2025-10-27T15:08:17.338Z,1761577697.338 [DAT](INFO): DAT read: user:953>

2025-10-27T15:08:17.339Z,1761577697.339 [DAT](INFO): DAT read: Tx time:15:08:16.3249

2025-10-27T15:08:17.339Z,1761577697.339 [DAT](INFO): Ping request sent.
2025-10-27T15:08:17.340Z,1761577697.340 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:17.340Z,1761577697.340 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:17.341Z,1761577697.341 [DAT](INFO): direction in FSK: [0.970961,-0.059387,-0.231748]
2025-10-27T15:08:17.341Z,1761577697.341 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:17.341Z,1761577697.341 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:17.345Z,1761577697.345 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:17.345Z,1761577697.345 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:17.758Z,1761577697.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255571,-0.955055,-0.150180],[0.965451,0.243947,0.091618],[-0.050864,-0.168407,0.984404]]
2025-10-27T15:08:17.811Z,1761577697.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 251.000000 m,
      deltaT: 4.030135 s,
      deltaX: 18.100006 m,
      approachRate: 4.491166 m/s,
      rangeRepo size: 4

2025-10-27T15:08:17.813Z,1761577697.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 249.833725 m,
      bearing: 69.358486 deg,
      lat: 36.779301 deg,
      lon: -121.859311 deg,
      deltaT: 4.030135 s,
      deltaX: 18.014023 m,
      approachRate: 4.469831 m/s,
      posRepo size: 4

2025-10-27T15:08:17.814Z,1761577697.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:17.834Z,1761577697.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 226.554977 m,
      bearing: 69.922398 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009795 deg/s,
      cmd heading: 75.355749 deg,
      new cmd heading: 75.370992 deg.

2025-10-27T15:08:17.840Z,1761577697.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315472 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:18.280Z,1761577698.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:18.282Z,1761577698.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:18.285Z,1761577698.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 226.241455 m,
      bearing: 69.926769 deg,
      approach rate: -0.659446 m/s,
      LOS rate: 0.009206 deg/s,
      cmd heading: 75.370994 deg,
      new cmd heading: 75.384125 deg.

2025-10-27T15:08:18.286Z,1761577698.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315701 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:18.337Z,1761577698.337 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:18.337Z,1761577698.337 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:18.337Z,1761577698.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:18.588Z,1761577698.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248376
2025-10-27T15:08:18.606Z,1761577698.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260914,-0.954410,-0.145002],[0.963991,0.249584,0.091813],[-0.051438,-0.163735,0.985162]]
2025-10-27T15:08:18.674Z,1761577698.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:18.685Z,1761577698.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 226.024170 m,
      bearing: 69.930123 deg,
      approach rate: -0.554459 m/s,
      LOS rate: 0.008567 deg/s,
      cmd heading: 75.384129 deg,
      new cmd heading: 75.394201 deg.

2025-10-27T15:08:18.686Z,1761577698.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315877 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:18.840Z,1761577698.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500424
2025-10-27T15:08:19.067Z,1761577699.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265849,-0.953729,-0.140449],[0.962662,0.254926,0.091081],[-0.051062,-0.159419,0.985890]]
2025-10-27T15:08:19.092Z,1761577699.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752465
2025-10-27T15:08:19.124Z,1761577699.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:19.129Z,1761577699.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 225.712296 m,
      bearing: 69.935081 deg,
      approach rate: -0.694404 m/s,
      LOS rate: 0.011055 deg/s,
      cmd heading: 75.394203 deg,
      new cmd heading: 75.409098 deg.

2025-10-27T15:08:19.130Z,1761577699.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316137 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:19.344Z,1761577699.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004268
2025-10-27T15:08:19.471Z,1761577699.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267454,-0.953743,-0.137272],[0.962237,0.256866,0.090116],[-0.050687,-0.156190,0.986426]]
2025-10-27T15:08:19.490Z,1761577699.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:19.492Z,1761577699.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 225.474945 m,
      bearing: 69.938978 deg,
      approach rate: -0.647298 m/s,
      LOS rate: 0.010638 deg/s,
      cmd heading: 75.409100 deg,
      new cmd heading: 75.420802 deg.

2025-10-27T15:08:19.493Z,1761577699.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316341 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:19.597Z,1761577699.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257251
2025-10-27T15:08:19.851Z,1761577699.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511771
2025-10-27T15:08:19.885Z,1761577699.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268723,-0.953673,-0.135261],[0.961908,0.258378,0.089302],[-0.050216,-0.154106,0.986777]]
2025-10-27T15:08:19.966Z,1761577699.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:19.969Z,1761577699.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 225.177765 m,
      bearing: 69.943979 deg,
      approach rate: -0.623452 m/s,
      LOS rate: 0.010506 deg/s,
      cmd heading: 75.420800 deg,
      new cmd heading: 75.435823 deg.

2025-10-27T15:08:19.970Z,1761577699.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316604 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:20.100Z,1761577700.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760353
2025-10-27T15:08:20.276Z,1761577700.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269902,-0.953570,-0.133631],[0.961605,0.259773,0.088504],[-0.049681,-0.152388,0.987071]]
2025-10-27T15:08:20.312Z,1761577700.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:20.314Z,1761577700.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:20.316Z,1761577700.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 224.931763 m,
      bearing: 69.944442 deg,
      approach rate: -0.708103 m/s,
      LOS rate: 0.001335 deg/s,
      cmd heading: 75.435826 deg,
      new cmd heading: 75.437217 deg.

2025-10-27T15:08:20.317Z,1761577700.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316628 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:20.352Z,1761577700.352 [DAT](INFO): DAT read: Rx Time:15:08:19.0070

2025-10-27T15:08:20.353Z,1761577700.353 [DAT](INFO): Rx dataTimestamp_ set to:1761577700.352310
2025-10-27T15:08:20.353Z,1761577700.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013606
2025-10-27T15:08:20.604Z,1761577700.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264417
2025-10-27T15:08:20.675Z,1761577700.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270361,-0.953609,-0.132418],[0.961497,0.260401,0.087834],[-0.049278,-0.151066,0.987295]]
2025-10-27T15:08:20.694Z,1761577700.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:20.696Z,1761577700.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 224.670135 m,
      bearing: 69.944973 deg,
      approach rate: -0.688473 m/s,
      LOS rate: 0.001398 deg/s,
      cmd heading: 75.437220 deg,
      new cmd heading: 75.438813 deg.

2025-10-27T15:08:20.697Z,1761577700.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316656 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:20.859Z,1761577700.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519099
2025-10-27T15:08:21.077Z,1761577701.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270279,-0.953656,-0.132250],[0.961532,0.260373,0.087534],[-0.049043,-0.150822,0.987344]]
2025-10-27T15:08:21.121Z,1761577701.121 [DAT](INFO): DAT read: 15:08:19.0070 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 379, 0.03, 0.722,-0.775, 1.075, 0.654, PHS= 0.170,-1.384, 0.377, RAW= 156.2,  10.1, CAL= 156.0,  10.9, ROT= 354.0, -10.9

2025-10-27T15:08:21.122Z,1761577701.122 [DAT](INFO): got valid direction response:
 15:08:19.0070 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 379, 0.03, 0.722,-0.775, 1.075, 0.654, PHS= 0.170,-1.384, 0.377, RAW= 156.2,  10.1, CAL= 156.0,  10.9, ROT= 354.0, -10.9

2025-10-27T15:08:21.124Z,1761577701.124 [DAT](INFO): DAT read: Bearing 226.9,  -9.9 (Local)

2025-10-27T15:08:21.125Z,1761577701.125 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.9,  -9.9 (Local)

2025-10-27T15:08:21.135Z,1761577701.135 [DAT](INFO): DAT read: Range 11 to 50 : 208.5 m  (Round-trip  278.0 ms) speed  0.8 m/s

2025-10-27T15:08:21.137Z,1761577701.137 [DAT](INFO): DAT read: user:954>

2025-10-27T15:08:21.138Z,1761577701.138 [DAT](INFO): DAT read: Tx time:15:08:20.1233

2025-10-27T15:08:21.138Z,1761577701.138 [DAT](INFO): Ping request sent.
2025-10-27T15:08:21.139Z,1761577701.139 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:21.140Z,1761577701.140 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:21.141Z,1761577701.141 [DAT](INFO): direction in FSK: [0.976579,-0.102643,0.189095]
2025-10-27T15:08:21.142Z,1761577701.142 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:21.142Z,1761577701.142 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:21.153Z,1761577701.153 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:21.154Z,1761577701.154 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:21.163Z,1761577701.163 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:08:21.181Z,1761577701.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 208.500000 m,
 deltaT: 3.780097 s,
 deltaX: -42.500000 m,
 approachRate: -11.243097 m/s,
 rangeRepo size: 4
2025-10-27T15:08:21.181Z,1761577701.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:21.188Z,1761577701.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 224.359192 m,
      bearing: 69.942155 deg,
      approach rate: -0.646142 m/s,
      LOS rate: -0.005864 deg/s,
      cmd heading: 75.438811 deg,
      new cmd heading: 75.430346 deg.

2025-10-27T15:08:21.189Z,1761577701.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316508 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:21.538Z,1761577701.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:21.544Z,1761577701.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 224.055984 m,
      bearing: 69.939400 deg,
      approach rate: -0.835489 m/s,
      LOS rate: -0.007602 deg/s,
      cmd heading: 75.430348 deg,
      new cmd heading: 75.422072 deg.

2025-10-27T15:08:21.545Z,1761577701.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316363 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:21.889Z,1761577701.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267616,-0.954522,-0.131416],[0.962353,0.258067,0.085310],[-0.047516,-0.149299,0.987650]]
2025-10-27T15:08:21.978Z,1761577701.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:21.985Z,1761577701.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 223.755112 m,
      bearing: 69.936450 deg,
      approach rate: -0.683956 m/s,
      LOS rate: -0.006715 deg/s,
      cmd heading: 75.422070 deg,
      new cmd heading: 75.413209 deg.

2025-10-27T15:08:21.985Z,1761577701.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316209 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:22.168Z,1761577702.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:08:22.293Z,1761577702.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266177,-0.954993,-0.130913],[0.962788,0.256808,0.084200],[-0.046791,-0.148454,0.987812]]
2025-10-27T15:08:22.335Z,1761577702.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:22.337Z,1761577702.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:22.340Z,1761577702.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 223.434418 m,
      bearing: 69.929029 deg,
      approach rate: -0.892497 m/s,
      LOS rate: -0.020680 deg/s,
      cmd heading: 75.413211 deg,
      new cmd heading: 75.390919 deg.

2025-10-27T15:08:22.341Z,1761577702.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315820 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:22.368Z,1761577702.368 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:22.368Z,1761577702.368 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:22.368Z,1761577702.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:22.622Z,1761577702.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482657
2025-10-27T15:08:22.700Z,1761577702.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264264,-0.955629,-0.130147],[0.963358,0.255130,0.082762],[-0.045885,-0.147249,0.988035]]
2025-10-27T15:08:22.719Z,1761577702.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:22.724Z,1761577702.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 223.133408 m,
      bearing: 69.921893 deg,
      approach rate: -0.788354 m/s,
      LOS rate: -0.018717 deg/s,
      cmd heading: 75.390918 deg,
      new cmd heading: 75.369478 deg.

2025-10-27T15:08:22.725Z,1761577702.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315446 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:22.872Z,1761577702.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733247
2025-10-27T15:08:23.107Z,1761577703.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261997,-0.956217,-0.130410],[0.964035,0.253063,0.081213],[-0.044655,-0.146997,0.988128]]
2025-10-27T15:08:23.125Z,1761577703.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986090
2025-10-27T15:08:23.170Z,1761577703.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:23.174Z,1761577703.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 222.757736 m,
      bearing: 69.910385 deg,
      approach rate: -0.832948 m/s,
      LOS rate: -0.025559 deg/s,
      cmd heading: 75.369478 deg,
      new cmd heading: 75.334895 deg.

2025-10-27T15:08:23.174Z,1761577703.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314842 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:23.376Z,1761577703.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237926
2025-10-27T15:08:23.508Z,1761577703.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258870,-0.956936,-0.131378],[0.964946,0.250126,0.079477],[-0.043194,-0.147346,0.988141]]
2025-10-27T15:08:23.527Z,1761577703.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:23.530Z,1761577703.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 222.461273 m,
      bearing: 69.901022 deg,
      approach rate: -0.830855 m/s,
      LOS rate: -0.026273 deg/s,
      cmd heading: 75.334897 deg,
      new cmd heading: 75.306772 deg.

2025-10-27T15:08:23.530Z,1761577703.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314351 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:23.630Z,1761577703.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491172
2025-10-27T15:08:23.880Z,1761577703.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741578
2025-10-27T15:08:23.909Z,1761577703.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255740,-0.957660,-0.132228],[0.965850,0.247216,0.077578],[-0.041605,-0.147552,0.988179]]
2025-10-27T15:08:23.984Z,1761577703.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:24.002Z,1761577704.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 222.124023 m,
      bearing: 69.890053 deg,
      approach rate: -0.746549 m/s,
      LOS rate: -0.024318 deg/s,
      cmd heading: 75.306770 deg,
      new cmd heading: 75.273813 deg.

2025-10-27T15:08:24.009Z,1761577704.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.313776 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:24.133Z,1761577704.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994283
2025-10-27T15:08:24.314Z,1761577704.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252471,-0.958417,-0.133024],[0.966775,0.244169,0.075683],[-0.040056,-0.147712,0.988219]]
2025-10-27T15:08:24.357Z,1761577704.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:24.359Z,1761577704.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:24.362Z,1761577704.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 221.746597 m,
      bearing: 69.877060 deg,
      approach rate: -0.991499 m/s,
      LOS rate: -0.034191 deg/s,
      cmd heading: 75.273814 deg,
      new cmd heading: 75.234768 deg.

2025-10-27T15:08:24.363Z,1761577704.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.313094 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:24.384Z,1761577704.384 [DAT](INFO): DAT read: Rx Time:15:08:22.8280

2025-10-27T15:08:24.385Z,1761577704.385 [DAT](INFO): Rx dataTimestamp_ set to:1761577704.384248
2025-10-27T15:08:24.385Z,1761577704.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246537
2025-10-27T15:08:24.636Z,1761577704.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497486
2025-10-27T15:08:24.752Z,1761577704.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249132,-0.959252,-0.133296],[0.967704,0.241094,0.073644],[-0.038506,-0.147338,0.988336]]
2025-10-27T15:08:24.788Z,1761577704.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.83 m.
2025-10-27T15:08:24.790Z,1761577704.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.833725 m,
      nav range: 221.381363 m,
      bearing: 69.864110 deg,
      approach rate: -0.852083 m/s,
      LOS rate: -0.030263 deg/s,
      cmd heading: 75.234766 deg,
      new cmd heading: 75.195850 deg.

2025-10-27T15:08:24.792Z,1761577704.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312415 target range: 249.833725 and range: 251.00 m.
2025-10-27T15:08:24.894Z,1761577704.894 [DAT](INFO): DAT read: 15:08:22.8280 LVL= 31216, 30929, 29986, 28723, AGC= 59, IDX= 163, 0.04, 0.028,-1.393, 0.238,-0.483, PHS= 0.613,-0.864, 0.677, RAW= 152.1,  -5.7, CAL= 152.0,  -7.1, ROT= 358.0,   7.1

2025-10-27T15:08:24.895Z,1761577704.895 [DAT](INFO): got valid direction response:
 15:08:22.8280 LVL= 31216, 30929, 29986, 28723, AGC= 59, IDX= 163, 0.04, 0.028,-1.393, 0.238,-0.483, PHS= 0.613,-0.864, 0.677, RAW= 152.1,  -5.7, CAL= 152.0,  -7.1, ROT= 358.0,   7.1

2025-10-27T15:08:24.896Z,1761577704.896 [DAT](INFO): DAT read: Bearing 210.5,  -3.3 (Local)

2025-10-27T15:08:24.897Z,1761577704.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.5,  -3.3 (Local)

2025-10-27T15:08:24.898Z,1761577704.898 [DAT](INFO): DAT read: Range 11 to 50 : 225.4 m  (Round-trip  300.6 ms) speed  0.3 m/s

2025-10-27T15:08:24.899Z,1761577704.899 [DAT](INFO): DAT read: user:955>

2025-10-27T15:08:24.900Z,1761577704.900 [DAT](INFO): DAT read: Tx time:15:08:23.9232

2025-10-27T15:08:24.900Z,1761577704.900 [DAT](INFO): Ping request sent.
2025-10-27T15:08:24.900Z,1761577704.900 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:24.901Z,1761577704.901 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:24.902Z,1761577704.902 [DAT](INFO): direction in FSK: [0.991727,-0.034632,-0.123601]
2025-10-27T15:08:24.902Z,1761577704.902 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:24.902Z,1761577704.902 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:24.906Z,1761577704.906 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:24.906Z,1761577704.906 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:25.140Z,1761577705.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245977,-0.959920,-0.134349],[0.968572,0.238144,0.071810],[-0.036937,-0.147790,0.988329]]
2025-10-27T15:08:25.194Z,1761577705.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 225.399994 m,
      deltaT: 7.560426 s,
      deltaX: -25.600006 m,
      approachRate: -3.386053 m/s,
      rangeRepo size: 4

2025-10-27T15:08:25.197Z,1761577705.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 224.353500 m,
      bearing: 72.703087 deg,
      lat: 36.779294 deg,
      lon: -121.859311 deg,
      deltaT: 7.560426 s,
      deltaX: -25.480225 m,
      approachRate: -3.370210 m/s,
      posRepo size: 4

2025-10-27T15:08:25.197Z,1761577705.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:25.216Z,1761577705.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 220.755737 m,
      bearing: 70.037746 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030263 deg/s,
      cmd heading: 75.195848 deg,
      new cmd heading: 75.158999 deg.

2025-10-27T15:08:25.217Z,1761577705.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.311772 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:25.539Z,1761577705.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243279,-0.960450,-0.135468],[0.969307,0.235625,0.070174],[-0.035479,-0.148382,0.988294]]
2025-10-27T15:08:25.557Z,1761577705.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:25.560Z,1761577705.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 220.434448 m,
      bearing: 70.027219 deg,
      approach rate: -0.882890 m/s,
      LOS rate: -0.028968 deg/s,
      cmd heading: 75.158999 deg,
      new cmd heading: 75.127374 deg.

2025-10-27T15:08:25.561Z,1761577705.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.311220 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:25.941Z,1761577705.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240891,-0.960557,-0.138932],[0.969951,0.233223,0.069304],[-0.034168,-0.151452,0.987874]]
2025-10-27T15:08:26.003Z,1761577706.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:26.034Z,1761577706.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 220.066986 m,
      bearing: 70.014914 deg,
      approach rate: -0.827549 m/s,
      LOS rate: -0.027759 deg/s,
      cmd heading: 75.127375 deg,
      new cmd heading: 75.090396 deg.

2025-10-27T15:08:26.040Z,1761577706.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.310575 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:26.355Z,1761577706.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239006,-0.960246,-0.144236],[0.970453,0.231149,0.069223],[-0.033131,-0.156519,0.987119]]
2025-10-27T15:08:26.390Z,1761577706.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:26.392Z,1761577706.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:26.395Z,1761577706.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 219.713577 m,
      bearing: 70.004579 deg,
      approach rate: -0.904312 m/s,
      LOS rate: -0.026487 deg/s,
      cmd heading: 75.090396 deg,
      new cmd heading: 75.059343 deg.

2025-10-27T15:08:26.396Z,1761577706.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.310033 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:26.408Z,1761577706.408 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:26.408Z,1761577706.408 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:26.408Z,1761577706.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:26.660Z,1761577706.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759572
2025-10-27T15:08:26.760Z,1761577706.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238109,-0.960308,-0.145304],[0.970693,0.230286,0.068721],[-0.032532,-0.157408,0.986998]]
2025-10-27T15:08:26.788Z,1761577706.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:26.790Z,1761577706.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 219.373215 m,
      bearing: 69.994514 deg,
      approach rate: -0.860399 m/s,
      LOS rate: -0.025482 deg/s,
      cmd heading: 75.059346 deg,
      new cmd heading: 75.029105 deg.

2025-10-27T15:08:26.792Z,1761577706.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.309505 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:26.912Z,1761577706.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011447
2025-10-27T15:08:27.157Z,1761577707.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237864,-0.959872,-0.148548],[0.970778,0.229931,0.068719],[-0.031806,-0.160552,0.986515]]
2025-10-27T15:08:27.164Z,1761577707.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263679
2025-10-27T15:08:27.216Z,1761577707.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:27.218Z,1761577707.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 219.033203 m,
      bearing: 69.988447 deg,
      approach rate: -0.794501 m/s,
      LOS rate: -0.014199 deg/s,
      cmd heading: 75.029102 deg,
      new cmd heading: 75.010872 deg.

2025-10-27T15:08:27.224Z,1761577707.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.309187 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:27.419Z,1761577707.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518633
2025-10-27T15:08:27.567Z,1761577707.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238096,-0.959430,-0.151014],[0.970737,0.230068,0.068832],[-0.031296,-0.162984,0.986132]]
2025-10-27T15:08:27.586Z,1761577707.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:27.592Z,1761577707.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 218.733566 m,
      bearing: 69.983112 deg,
      approach rate: -0.810156 m/s,
      LOS rate: -0.014447 deg/s,
      cmd heading: 75.010872 deg,
      new cmd heading: 74.994843 deg.

2025-10-27T15:08:27.593Z,1761577707.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308907 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:27.669Z,1761577707.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768274
2025-10-27T15:08:27.920Z,1761577707.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019621
2025-10-27T15:08:27.972Z,1761577707.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238225,-0.959406,-0.150960],[0.970717,0.230262,0.068462],[-0.030923,-0.162849,0.986166]]
2025-10-27T15:08:27.996Z,1761577707.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:27.998Z,1761577707.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 218.408310 m,
      bearing: 69.977313 deg,
      approach rate: -0.795238 m/s,
      LOS rate: -0.014198 deg/s,
      cmd heading: 74.994842 deg,
      new cmd heading: 74.977421 deg.

2025-10-27T15:08:27.999Z,1761577707.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308603 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:28.172Z,1761577708.172 [DAT](INFO): DAT read: Rx Time:15:08:26.5965

2025-10-27T15:08:28.172Z,1761577708.172 [DAT](INFO): Rx dataTimestamp_ set to:1761577708.172179
2025-10-27T15:08:28.173Z,1761577708.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272647
2025-10-27T15:08:28.372Z,1761577708.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239143,-0.959100,-0.151449],[0.970492,0.231133,0.068718],[-0.030902,-0.163413,0.986074]]
2025-10-27T15:08:28.406Z,1761577708.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:28.424Z,1761577708.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523585
2025-10-27T15:08:28.429Z,1761577708.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:28.436Z,1761577708.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 218.099289 m,
      bearing: 69.974567 deg,
      approach rate: -0.711704 m/s,
      LOS rate: -0.006333 deg/s,
      cmd heading: 74.977418 deg,
      new cmd heading: 74.969169 deg.

2025-10-27T15:08:28.437Z,1761577708.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308459 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:28.683Z,1761577708.683 [DAT](INFO): DAT read: 15:08:26.5965 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 113,-0.15, 0.394,-1.078, 0.854, 0.354, PHS= 0.142,-1.387, 0.455, RAW= 159.1,   9.3, CAL= 158.9,   9.9, ROT= 351.1,  -9.9

2025-10-27T15:08:28.684Z,1761577708.684 [DAT](INFO): got valid direction response:
 15:08:26.5965 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 113,-0.15, 0.394,-1.078, 0.854, 0.354, PHS= 0.142,-1.387, 0.455, RAW= 159.1,   9.3, CAL= 158.9,   9.9, ROT= 351.1,  -9.9

2025-10-27T15:08:28.685Z,1761577708.685 [DAT](INFO): DAT read: Bearing 226.0, -12.5 (Local)

2025-10-27T15:08:28.685Z,1761577708.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.0, -12.5 (Local)

2025-10-27T15:08:28.687Z,1761577708.687 [DAT](INFO): DAT read: Range 11 to 50 : 201.9 m  (Round-trip  269.2 ms) speed  0.1 m/s

2025-10-27T15:08:28.688Z,1761577708.688 [DAT](INFO): DAT read: user:956>

2025-10-27T15:08:28.688Z,1761577708.688 [DAT](INFO): DAT read: Tx time:15:08:27.7232

2025-10-27T15:08:28.689Z,1761577708.689 [DAT](INFO): Ping request sent.
2025-10-27T15:08:28.689Z,1761577708.689 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:28.689Z,1761577708.689 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:28.690Z,1761577708.690 [DAT](INFO): direction in FSK: [0.973248,-0.152407,0.171929]
2025-10-27T15:08:28.690Z,1761577708.690 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:28.693Z,1761577708.693 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:28.698Z,1761577708.698 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:28.698Z,1761577708.698 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:28.828Z,1761577708.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240680,-0.958609,-0.152123],[0.970112,0.232591,0.069169],[-0.030924,-0.164224,0.985938]]
2025-10-27T15:08:28.888Z,1761577708.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 201.899994 m,
 deltaT: 3.788831 s,
 deltaX: -23.500000 m,
 approachRate: -6.202441 m/s,
 rangeRepo size: 4
2025-10-27T15:08:28.891Z,1761577708.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:28.894Z,1761577708.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 217.765930 m,
      bearing: 69.971738 deg,
      approach rate: -0.733811 m/s,
      LOS rate: -0.006238 deg/s,
      cmd heading: 74.969167 deg,
      new cmd heading: 74.960666 deg.

2025-10-27T15:08:28.895Z,1761577708.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308310 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:29.214Z,1761577709.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243085,-0.957831,-0.153199],[0.969510,0.234864,0.069930],[-0.031001,-0.165527,0.985718]]
2025-10-27T15:08:29.270Z,1761577709.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:29.273Z,1761577709.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 217.497726 m,
      bearing: 69.972559 deg,
      approach rate: -0.694005 m/s,
      LOS rate: 0.002126 deg/s,
      cmd heading: 74.960664 deg,
      new cmd heading: 74.963129 deg.

2025-10-27T15:08:29.273Z,1761577709.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308353 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:29.632Z,1761577709.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245928,-0.956768,-0.155286],[0.968800,0.237547,0.070696],[-0.030752,-0.167827,0.985337]]
2025-10-27T15:08:29.650Z,1761577709.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:29.653Z,1761577709.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 217.223083 m,
      bearing: 69.973614 deg,
      approach rate: -0.721308 m/s,
      LOS rate: 0.002774 deg/s,
      cmd heading: 74.963129 deg,
      new cmd heading: 74.966298 deg.

2025-10-27T15:08:29.654Z,1761577709.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308409 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:30.028Z,1761577710.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249632,-0.955626,-0.156402],[0.967834,0.241002,0.072214],[-0.031317,-0.169399,0.985050]]
2025-10-27T15:08:30.113Z,1761577710.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:30.127Z,1761577710.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 216.937988 m,
      bearing: 69.975000 deg,
      approach rate: -0.617366 m/s,
      LOS rate: 0.003006 deg/s,
      cmd heading: 74.966299 deg,
      new cmd heading: 74.970463 deg.

2025-10-27T15:08:30.128Z,1761577710.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308481 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:30.431Z,1761577710.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253203,-0.954607,-0.156888],[0.966888,0.244374,0.073542],[-0.031864,-0.170314,0.984874]]
2025-10-27T15:08:30.480Z,1761577710.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:30.482Z,1761577710.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:30.485Z,1761577710.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 216.661865 m,
      bearing: 69.978104 deg,
      approach rate: -0.746047 m/s,
      LOS rate: 0.008397 deg/s,
      cmd heading: 74.970465 deg,
      new cmd heading: 74.979788 deg.

2025-10-27T15:08:30.486Z,1761577710.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308644 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:30.692Z,1761577710.692 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:30.692Z,1761577710.692 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:30.692Z,1761577710.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:30.896Z,1761577710.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:30.898Z,1761577710.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 216.387131 m,
      bearing: 69.981199 deg,
      approach rate: -0.664798 m/s,
      LOS rate: 0.007501 deg/s,
      cmd heading: 74.979788 deg,
      new cmd heading: 74.989088 deg.

2025-10-27T15:08:30.899Z,1761577710.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308807 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:30.944Z,1761577710.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255427
2025-10-27T15:08:31.196Z,1761577711.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506983
2025-10-27T15:08:31.238Z,1761577711.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260538,-0.952502,-0.157671],[0.964894,0.251279,0.076412],[-0.033164,-0.172044,0.984531]]
2025-10-27T15:08:31.285Z,1761577711.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:31.288Z,1761577711.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 216.138214 m,
      bearing: 69.983329 deg,
      approach rate: -0.638670 m/s,
      LOS rate: 0.005469 deg/s,
      cmd heading: 74.989091 deg,
      new cmd heading: 74.995486 deg.

2025-10-27T15:08:31.289Z,1761577711.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308918 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:31.448Z,1761577711.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758928
2025-10-27T15:08:31.650Z,1761577711.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263904,-0.951424,-0.158578],[0.963950,0.254359,0.078112],[-0.033982,-0.173476,0.984252]]
2025-10-27T15:08:31.669Z,1761577711.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:31.672Z,1761577711.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 215.893036 m,
      bearing: 69.985653 deg,
      approach rate: -0.639059 m/s,
      LOS rate: 0.006066 deg/s,
      cmd heading: 74.995484 deg,
      new cmd heading: 75.002466 deg.

2025-10-27T15:08:31.673Z,1761577711.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.309040 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:31.701Z,1761577711.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012376
2025-10-27T15:08:31.952Z,1761577711.952 [DAT](INFO): DAT read: Rx Time:15:08:30.3934

2025-10-27T15:08:31.952Z,1761577711.952 [DAT](INFO): Rx dataTimestamp_ set to:1761577711.952130
2025-10-27T15:08:31.953Z,1761577711.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264066
2025-10-27T15:08:32.050Z,1761577712.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267075,-0.950303,-0.159984],[0.963053,0.257233,0.079745],[-0.034629,-0.175371,0.983893]]
2025-10-27T15:08:32.133Z,1761577712.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.35 m.
2025-10-27T15:08:32.140Z,1761577712.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.353500 m,
      nav range: 215.638107 m,
      bearing: 69.988293 deg,
      approach rate: -0.549464 m/s,
      LOS rate: 0.005695 deg/s,
      cmd heading: 75.002464 deg,
      new cmd heading: 75.010391 deg.

2025-10-27T15:08:32.141Z,1761577712.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.309178 target range: 224.353500 and range: 225.40 m.
2025-10-27T15:08:32.208Z,1761577712.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519143
2025-10-27T15:08:32.466Z,1761577712.466 [DAT](INFO): DAT read: 15:08:30.3934 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 417, 0.20, 2.714, 1.182, 3.130, 2.576, PHS= 0.240,-1.349, 0.510, RAW= 157.7,   6.9, CAL= 157.1,   7.0, ROT= 352.9,  -7.0

2025-10-27T15:08:32.467Z,1761577712.467 [DAT](INFO): got valid direction response:
 15:08:30.3934 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 417, 0.20, 2.714, 1.182, 3.130, 2.576, PHS= 0.240,-1.349, 0.510, RAW= 157.7,   6.9, CAL= 157.1,   7.0, ROT= 352.9,  -7.0

2025-10-27T15:08:32.468Z,1761577712.468 [DAT](INFO): DAT read: Bearing 222.9, -10.2 (Local)

2025-10-27T15:08:32.468Z,1761577712.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.9, -10.2 (Local)

2025-10-27T15:08:32.470Z,1761577712.470 [DAT](INFO): DAT read: Range 11 to 50 : 199.5 m  (Round-trip  266.1 ms) speed  0.9 m/s

2025-10-27T15:08:32.470Z,1761577712.470 [DAT](INFO): DAT read: user:957>

2025-10-27T15:08:32.499Z,1761577712.499 [DAT](INFO): DAT read: Tx time:15:08:31.5232

2025-10-27T15:08:32.500Z,1761577712.500 [DAT](INFO): Ping request sent.
2025-10-27T15:08:32.500Z,1761577712.500 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:32.500Z,1761577712.500 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:32.501Z,1761577712.501 [DAT](INFO): direction in FSK: [0.984935,-0.122680,0.121869]
2025-10-27T15:08:32.501Z,1761577712.501 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:32.502Z,1761577712.502 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:32.505Z,1761577712.505 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:32.505Z,1761577712.505 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:32.558Z,1761577712.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269523,-0.949874,-0.158421],[0.962352,0.259664,0.080338],[-0.035175,-0.174110,0.984098]]
2025-10-27T15:08:32.668Z,1761577712.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.500000 m,
      deltaT: 7.571559 s,
      deltaX: -25.899994 m,
      approachRate: -3.420695 m/s,
      rangeRepo size: 4

2025-10-27T15:08:32.670Z,1761577712.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.575409 m,
      bearing: 68.606785 deg,
      lat: 36.779263 deg,
      lon: -121.859513 deg,
      deltaT: 7.571559 s,
      deltaX: -25.778091 m,
      approachRate: -3.404595 m/s,
      posRepo size: 4

2025-10-27T15:08:32.675Z,1761577712.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:32.678Z,1761577712.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 197.218353 m,
      bearing: 69.129680 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005695 deg/s,
      cmd heading: 75.010394 deg,
      new cmd heading: 75.019529 deg.

2025-10-27T15:08:32.683Z,1761577712.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.309338 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:33.162Z,1761577713.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271155,-0.949771,-0.156236],[0.961887,0.261420,0.080204],[-0.035332,-0.172030,0.984458]]
2025-10-27T15:08:33.238Z,1761577713.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:33.245Z,1761577713.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:33.247Z,1761577713.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 196.807236 m,
      bearing: 69.123027 deg,
      approach rate: -0.712562 m/s,
      LOS rate: -0.011555 deg/s,
      cmd heading: 75.019526 deg,
      new cmd heading: 74.999526 deg.

2025-10-27T15:08:33.248Z,1761577713.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308989 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:33.468Z,1761577713.468 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:33.468Z,1761577713.468 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:33.469Z,1761577713.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:33.570Z,1761577713.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271375,-0.949952,-0.154750],[0.961822,0.261749,0.079906],[-0.035401,-0.170527,0.984717]]
2025-10-27T15:08:33.631Z,1761577713.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:33.634Z,1761577713.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 196.534836 m,
      bearing: 69.118627 deg,
      approach rate: -0.712624 m/s,
      LOS rate: -0.011526 deg/s,
      cmd heading: 74.999527 deg,
      new cmd heading: 74.986309 deg.

2025-10-27T15:08:33.635Z,1761577713.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308758 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:33.722Z,1761577713.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221672
2025-10-27T15:08:33.970Z,1761577713.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270854,-0.950532,-0.152077],[0.961973,0.261479,0.078973],[-0.035301,-0.167685,0.985208]]
2025-10-27T15:08:33.972Z,1761577713.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472087
2025-10-27T15:08:34.016Z,1761577714.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:34.023Z,1761577714.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 196.256027 m,
      bearing: 69.114077 deg,
      approach rate: -0.715850 m/s,
      LOS rate: -0.011700 deg/s,
      cmd heading: 74.986311 deg,
      new cmd heading: 74.972640 deg.

2025-10-27T15:08:34.024Z,1761577714.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308519 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:34.224Z,1761577714.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724065
2025-10-27T15:08:34.374Z,1761577714.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270042,-0.951042,-0.150318],[0.962214,0.260890,0.077975],[-0.034941,-0.165695,0.985558]]
2025-10-27T15:08:34.423Z,1761577714.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:34.426Z,1761577714.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 195.932922 m,
      bearing: 69.105563 deg,
      approach rate: -0.794285 m/s,
      LOS rate: -0.020963 deg/s,
      cmd heading: 74.972637 deg,
      new cmd heading: 74.947054 deg.

2025-10-27T15:08:34.427Z,1761577714.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308073 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:34.477Z,1761577714.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976927
2025-10-27T15:08:34.729Z,1761577714.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228709
2025-10-27T15:08:34.784Z,1761577714.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268451,-0.951751,-0.148671],[0.962686,0.259586,0.076497],[-0.034213,-0.163660,0.985923]]
2025-10-27T15:08:34.806Z,1761577714.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:34.810Z,1761577714.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 195.640182 m,
      bearing: 69.097687 deg,
      approach rate: -0.763935 m/s,
      LOS rate: -0.020585 deg/s,
      cmd heading: 74.947051 deg,
      new cmd heading: 74.923386 deg.

2025-10-27T15:08:34.811Z,1761577714.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.307660 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:34.980Z,1761577714.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480512
2025-10-27T15:08:35.205Z,1761577715.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267144,-0.952236,-0.147923],[0.963075,0.258485,0.075315],[-0.033481,-0.162581,0.986127]]
2025-10-27T15:08:35.232Z,1761577715.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732026
2025-10-27T15:08:35.249Z,1761577715.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:35.251Z,1761577715.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:35.254Z,1761577715.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 195.289993 m,
      bearing: 69.084513 deg,
      approach rate: -0.787080 m/s,
      LOS rate: -0.029663 deg/s,
      cmd heading: 74.923384 deg,
      new cmd heading: 74.883792 deg.

2025-10-27T15:08:35.255Z,1761577715.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.306969 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:35.484Z,1761577715.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983998
2025-10-27T15:08:35.591Z,1761577715.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265187,-0.952876,-0.147319],[0.963650,0.256781,0.073767],[-0.032462,-0.161526,0.986334]]
2025-10-27T15:08:35.633Z,1761577715.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:35.636Z,1761577715.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 194.988525 m,
      bearing: 69.072951 deg,
      approach rate: -0.788570 m/s,
      LOS rate: -0.030290 deg/s,
      cmd heading: 74.883790 deg,
      new cmd heading: 74.849050 deg.

2025-10-27T15:08:35.637Z,1761577715.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.306362 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:35.737Z,1761577715.737 [DAT](INFO): DAT read: Rx Time:15:08:34.2441

2025-10-27T15:08:35.737Z,1761577715.737 [DAT](INFO): Rx dataTimestamp_ set to:1761577715.737046
2025-10-27T15:08:35.738Z,1761577715.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238293
2025-10-27T15:08:35.988Z,1761577715.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487838
2025-10-27T15:08:35.992Z,1761577715.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262747,-0.953724,-0.146198],[0.964355,0.254650,0.071926],[-0.031368,-0.159885,0.986637]]
2025-10-27T15:08:36.013Z,1761577716.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:36.016Z,1761577716.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 194.690109 m,
      bearing: 69.061244 deg,
      approach rate: -0.787029 m/s,
      LOS rate: -0.030922 deg/s,
      cmd heading: 74.849051 deg,
      new cmd heading: 74.813878 deg.

2025-10-27T15:08:36.016Z,1761577716.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.305748 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:36.246Z,1761577716.246 [DAT](INFO): DAT read: 15:08:34.2441 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 178,-0.27,-3.099, 1.587,-2.720, 3.104, PHS= 0.182,-1.473, 0.415, RAW= 156.5,   9.9, CAL= 156.3,  10.7, ROT= 353.7, -10.7

2025-10-27T15:08:36.247Z,1761577716.247 [DAT](INFO): got valid direction response:
 15:08:34.2441 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 178,-0.27,-3.099, 1.587,-2.720, 3.104, PHS= 0.182,-1.473, 0.415, RAW= 156.5,   9.9, CAL= 156.3,  10.7, ROT= 353.7, -10.7

2025-10-27T15:08:36.248Z,1761577716.248 [DAT](INFO): DAT read: Bearing 226.9,  -9.8 (Local)

2025-10-27T15:08:36.248Z,1761577716.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.9,  -9.8 (Local)

2025-10-27T15:08:36.250Z,1761577716.250 [DAT](INFO): DAT read: Range 11 to 50 : 237.5 m  (Round-trip  316.7 ms) speed  0.6 m/s

2025-10-27T15:08:36.251Z,1761577716.251 [DAT](INFO): DAT read: user:958>

2025-10-27T15:08:36.252Z,1761577716.252 [DAT](INFO): DAT read: Tx time:15:08:35.3732

2025-10-27T15:08:36.252Z,1761577716.252 [DAT](INFO): Ping request sent.
2025-10-27T15:08:36.252Z,1761577716.252 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:36.252Z,1761577716.252 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:36.253Z,1761577716.253 [DAT](INFO): direction in FSK: [0.976679,-0.107826,0.185667]
2025-10-27T15:08:36.253Z,1761577716.253 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:36.254Z,1761577716.254 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:36.263Z,1761577716.263 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:36.264Z,1761577716.264 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:36.394Z,1761577716.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260337,-0.954486,-0.145541],[0.965048,0.252533,0.070074],[-0.030131,-0.158697,0.986868]]
2025-10-27T15:08:36.480Z,1761577716.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 237.500000 m,
 deltaT: 3.780272 s,
 deltaX: 38.000000 m,
 approachRate: 10.052187 m/s,
 rangeRepo size: 4
2025-10-27T15:08:36.480Z,1761577716.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:36.487Z,1761577716.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 194.319244 m,
      bearing: 69.045229 deg,
      approach rate: -0.802472 m/s,
      LOS rate: -0.034720 deg/s,
      cmd heading: 74.813876 deg,
      new cmd heading: 74.765738 deg.

2025-10-27T15:08:36.488Z,1761577716.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304908 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:36.798Z,1761577716.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257743,-0.955279,-0.144949],[0.965786,0.250252,0.068051],[-0.028734,-0.157529,0.987096]]
2025-10-27T15:08:36.818Z,1761577716.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:36.821Z,1761577716.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 194.020615 m,
      bearing: 69.032043 deg,
      approach rate: -0.870065 m/s,
      LOS rate: -0.038475 deg/s,
      cmd heading: 74.765737 deg,
      new cmd heading: 74.726120 deg.

2025-10-27T15:08:36.822Z,1761577716.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304217 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:37.230Z,1761577717.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255143,-0.955981,-0.144919],[0.966521,0.247949,0.066011],[-0.027173,-0.156910,0.987239]]
2025-10-27T15:08:37.271Z,1761577717.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:37.273Z,1761577717.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:37.276Z,1761577717.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 193.637741 m,
      bearing: 69.017410 deg,
      approach rate: -0.841721 m/s,
      LOS rate: -0.032233 deg/s,
      cmd heading: 74.726122 deg,
      new cmd heading: 74.682136 deg.

2025-10-27T15:08:37.277Z,1761577717.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.303449 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:37.500Z,1761577717.500 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:37.500Z,1761577717.500 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:37.500Z,1761577717.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:37.612Z,1761577717.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252866,-0.956599,-0.144834],[0.967165,0.245984,0.063901],[-0.025501,-0.156237,0.987390]]
2025-10-27T15:08:37.641Z,1761577717.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:37.644Z,1761577717.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 193.327057 m,
      bearing: 69.005270 deg,
      approach rate: -0.843492 m/s,
      LOS rate: -0.033012 deg/s,
      cmd heading: 74.682135 deg,
      new cmd heading: 74.645658 deg.

2025-10-27T15:08:37.645Z,1761577717.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.302812 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:37.753Z,1761577717.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500887
2025-10-27T15:08:38.004Z,1761577718.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751996
2025-10-27T15:08:38.008Z,1761577718.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250903,-0.957082,-0.145056],[0.967713,0.244265,0.062185],[-0.024084,-0.155975,0.987467]]
2025-10-27T15:08:38.028Z,1761577718.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:38.043Z,1761577718.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 193.003052 m,
      bearing: 68.992369 deg,
      approach rate: -0.837510 m/s,
      LOS rate: -0.033405 deg/s,
      cmd heading: 74.645655 deg,
      new cmd heading: 74.606885 deg.

2025-10-27T15:08:38.044Z,1761577718.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.302136 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:38.256Z,1761577718.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004392
2025-10-27T15:08:38.462Z,1761577718.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:38.465Z,1761577718.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 192.644302 m,
      bearing: 68.980490 deg,
      approach rate: -0.826295 m/s,
      LOS rate: -0.027410 deg/s,
      cmd heading: 74.606887 deg,
      new cmd heading: 74.571185 deg.

2025-10-27T15:08:38.466Z,1761577718.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.301513 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:38.508Z,1761577718.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256197
2025-10-27T15:08:38.760Z,1761577718.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507938
2025-10-27T15:08:38.814Z,1761577718.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248065,-0.957317,-0.148350],[0.968509,0.241711,0.059719],[-0.021312,-0.158493,0.987130]]
2025-10-27T15:08:38.843Z,1761577718.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:38.845Z,1761577718.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 192.332016 m,
      bearing: 68.969839 deg,
      approach rate: -0.820970 m/s,
      LOS rate: -0.028045 deg/s,
      cmd heading: 74.571186 deg,
      new cmd heading: 74.539181 deg.

2025-10-27T15:08:38.846Z,1761577718.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300954 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:39.012Z,1761577719.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759866
2025-10-27T15:08:39.260Z,1761577719.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247599,-0.957251,-0.149551],[0.968651,0.241355,0.058847],[-0.020236,-0.159433,0.987001]]
2025-10-27T15:08:39.264Z,1761577719.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012102
2025-10-27T15:08:39.321Z,1761577719.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:39.327Z,1761577719.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:39.330Z,1761577719.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 191.970108 m,
      bearing: 68.959480 deg,
      approach rate: -0.753780 m/s,
      LOS rate: -0.021616 deg/s,
      cmd heading: 74.539179 deg,
      new cmd heading: 74.508045 deg.

2025-10-27T15:08:39.331Z,1761577719.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300411 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:39.516Z,1761577719.516 [DAT](INFO): DAT read: Rx Time:15:08:38.0925

2025-10-27T15:08:39.516Z,1761577719.516 [DAT](INFO): Rx dataTimestamp_ set to:1761577719.516046
2025-10-27T15:08:39.517Z,1761577719.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264933
2025-10-27T15:08:39.641Z,1761577719.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247823,-0.956995,-0.150810],[0.968616,0.241677,0.058096],[-0.019150,-0.160474,0.986854]]
2025-10-27T15:08:39.675Z,1761577719.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.58 m.
2025-10-27T15:08:39.678Z,1761577719.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.575409 m,
      nav range: 191.683716 m,
      bearing: 68.951276 deg,
      approach rate: -0.813282 m/s,
      LOS rate: -0.023334 deg/s,
      cmd heading: 74.508047 deg,
      new cmd heading: 74.483397 deg.

2025-10-27T15:08:39.683Z,1761577719.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299981 target range: 198.575409 and range: 199.50 m.
2025-10-27T15:08:39.768Z,1761577719.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516522
2025-10-27T15:08:40.031Z,1761577720.031 [DAT](INFO): DAT read: 15:08:38.0925 LVL= 29920, 32753, 31202, 32755, AGC= 59, IDX= 129,-0.00, 2.702, 1.225, 3.087, 2.607, PHS= 0.197,-1.337, 0.436, RAW= 157.1,   8.5, CAL= 156.8,   8.9, ROT= 353.2,  -8.9

2025-10-27T15:08:40.032Z,1761577720.032 [DAT](INFO): got valid direction response:
 15:08:38.0925 LVL= 29920, 32753, 31202, 32755, AGC= 59, IDX= 129,-0.00, 2.702, 1.225, 3.087, 2.607, PHS= 0.197,-1.337, 0.436, RAW= 157.1,   8.5, CAL= 156.8,   8.9, ROT= 353.2,  -8.9

2025-10-27T15:08:40.033Z,1761577720.033 [DAT](INFO): DAT read: Bearing 225.0,  -9.7 (Local)

2025-10-27T15:08:40.033Z,1761577720.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.0,  -9.7 (Local)

2025-10-27T15:08:40.035Z,1761577720.035 [DAT](INFO): DAT read: Range 11 to 50 : 236.4 m  (Round-trip  315.2 ms) speed  0.8 m/s

2025-10-27T15:08:40.036Z,1761577720.036 [DAT](INFO): DAT read: user:959>

2025-10-27T15:08:40.037Z,1761577720.037 [DAT](INFO): DAT read: Tx time:15:08:39.2232

2025-10-27T15:08:40.037Z,1761577720.037 [DAT](INFO): Ping request sent.
2025-10-27T15:08:40.037Z,1761577720.037 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:40.037Z,1761577720.037 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:40.038Z,1761577720.038 [DAT](INFO): direction in FSK: [0.981010,-0.116978,0.154710]
2025-10-27T15:08:40.039Z,1761577720.039 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:40.041Z,1761577720.041 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:40.064Z,1761577720.064 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:40.065Z,1761577720.065 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:40.160Z,1761577720.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 236.399994 m,
      deltaT: 7.561539 s,
      deltaX: 36.899994 m,
      approachRate: 4.879958 m/s,
      rangeRepo size: 4

2025-10-27T15:08:40.162Z,1761577720.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 235.304489 m,
      bearing: 70.386917 deg,
      lat: 36.779279 deg,
      lon: -121.859264 deg,
      deltaT: 7.561539 s,
      deltaX: 36.729080 m,
      approachRate: 4.857355 m/s,
      posRepo size: 4

2025-10-27T15:08:40.168Z,1761577720.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.30 m.
2025-10-27T15:08:40.176Z,1761577720.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.304489 m,
      nav range: 212.709869 m,
      bearing: 70.642257 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023334 deg/s,
      cmd heading: 74.483397 deg,
      new cmd heading: 74.449807 deg.

2025-10-27T15:08:40.177Z,1761577720.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299394 target range: 235.304489 and range: 236.40 m.
2025-10-27T15:08:40.483Z,1761577720.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249965,-0.955993,-0.153605],[0.968100,0.243918,0.057335],[-0.017344,-0.163036,0.986468]]
2025-10-27T15:08:40.540Z,1761577720.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.30 m.
2025-10-27T15:08:40.542Z,1761577720.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.304489 m,
      nav range: 212.419708 m,
      bearing: 70.638527 deg,
      approach rate: -0.754026 m/s,
      LOS rate: -0.009706 deg/s,
      cmd heading: 74.449806 deg,
      new cmd heading: 74.438601 deg.

2025-10-27T15:08:40.544Z,1761577720.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299199 target range: 235.304489 and range: 236.40 m.
2025-10-27T15:08:40.889Z,1761577720.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251628,-0.955255,-0.155474],[0.967684,0.245593,0.057195],[-0.016453,-0.164842,0.986183]]
2025-10-27T15:08:40.918Z,1761577720.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.30 m.
2025-10-27T15:08:40.921Z,1761577720.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.304489 m,
      nav range: 212.116272 m,
      bearing: 70.634756 deg,
      approach rate: -0.802550 m/s,
      LOS rate: -0.009987 deg/s,
      cmd heading: 74.438598 deg,
      new cmd heading: 74.427270 deg.

2025-10-27T15:08:40.922Z,1761577720.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299001 target range: 235.304489 and range: 236.40 m.
2025-10-27T15:08:41.292Z,1761577721.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253822,-0.954214,-0.158270],[0.967122,0.247691,0.057662],[-0.015820,-0.167702,0.985711]]
2025-10-27T15:08:41.333Z,1761577721.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:41.336Z,1761577721.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.30 m.
2025-10-27T15:08:41.339Z,1761577721.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.304489 m,
      nav range: 211.813751 m,
      bearing: 70.634355 deg,
      approach rate: -0.722997 m/s,
      LOS rate: -0.000960 deg/s,
      cmd heading: 74.427267 deg,
      new cmd heading: 74.426061 deg.

2025-10-27T15:08:41.340Z,1761577721.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298980 target range: 235.304489 and range: 236.40 m.
2025-10-27T15:08:41.536Z,1761577721.536 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:41.536Z,1761577721.536 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:41.536Z,1761577721.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:41.702Z,1761577721.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256176,-0.953255,-0.160246],[0.966504,0.249917,0.058410],[-0.015631,-0.169841,0.985347]]
2025-10-27T15:08:41.763Z,1761577721.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.30 m.
2025-10-27T15:08:41.766Z,1761577721.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.304489 m,
      nav range: 211.524414 m,
      bearing: 70.634157 deg,
      approach rate: -0.684229 m/s,
      LOS rate: -0.000468 deg/s,
      cmd heading: 74.426058 deg,
      new cmd heading: 74.425464 deg.

2025-10-27T15:08:41.772Z,1761577721.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298969 target range: 235.304489 and range: 236.40 m.
2025-10-27T15:08:41.788Z,1761577721.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750855
2025-10-27T15:08:42.041Z,1761577722.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003447
2025-10-27T15:08:42.114Z,1761577722.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258609,-0.952236,-0.162381],[0.965858,0.252201,0.059271],[-0.015488,-0.172165,0.984946]]
2025-10-27T15:08:42.134Z,1761577722.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.30 m.
2025-10-27T15:08:42.137Z,1761577722.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.304489 m,
      nav range: 211.233810 m,
      bearing: 70.634153 deg,
      approach rate: -0.773979 m/s,
      LOS rate: -0.000011 deg/s,
      cmd heading: 74.425464 deg,
      new cmd heading: 74.425451 deg.

2025-10-27T15:08:42.138Z,1761577722.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298969 target range: 235.304489 and range: 236.40 m.
2025-10-27T15:08:42.292Z,1761577722.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254893
2025-10-27T15:08:42.544Z,1761577722.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506832
2025-10-27T15:08:42.585Z,1761577722.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.30 m.
2025-10-27T15:08:42.591Z,1761577722.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.304489 m,
      nav range: 210.926147 m,
      bearing: 70.635615 deg,
      approach rate: -0.682973 m/s,
      LOS rate: 0.003250 deg/s,
      cmd heading: 74.425450 deg,
      new cmd heading: 74.429842 deg.

2025-10-27T15:08:42.593Z,1761577722.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299046 target range: 235.304489 and range: 236.40 m.
2025-10-27T15:08:42.796Z,1761577722.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758737
2025-10-27T15:08:42.963Z,1761577722.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.30 m.
2025-10-27T15:08:42.966Z,1761577722.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.304489 m,
      nav range: 210.632843 m,
      bearing: 70.637013 deg,
      approach rate: -0.775451 m/s,
      LOS rate: 0.003700 deg/s,
      cmd heading: 74.429842 deg,
      new cmd heading: 74.434041 deg.

2025-10-27T15:08:43.004Z,1761577723.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299119 target range: 235.304489 and range: 236.40 m.
2025-10-27T15:08:43.049Z,1761577723.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011512
2025-10-27T15:08:43.303Z,1761577723.303 [DAT](INFO): DAT read: Rx Time:15:08:41.9406

2025-10-27T15:08:43.304Z,1761577723.304 [DAT](INFO): Rx dataTimestamp_ set to:1761577723.303640
2025-10-27T15:08:43.306Z,1761577723.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268935
2025-10-27T15:08:43.393Z,1761577723.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:43.411Z,1761577723.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.30 m.
2025-10-27T15:08:43.414Z,1761577723.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.304489 m,
      nav range: 210.323273 m,
      bearing: 70.637414 deg,
      approach rate: -0.716991 m/s,
      LOS rate: 0.000931 deg/s,
      cmd heading: 74.434042 deg,
      new cmd heading: 74.435249 deg.

2025-10-27T15:08:43.419Z,1761577723.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299140 target range: 235.304489 and range: 236.40 m.
2025-10-27T15:08:43.552Z,1761577723.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514707
2025-10-27T15:08:43.736Z,1761577723.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268067,-0.949489,-0.163125],[0.963269,0.261369,0.061635],[-0.015886,-0.173655,0.984678]]
2025-10-27T15:08:43.781Z,1761577723.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.30 m.
2025-10-27T15:08:43.788Z,1761577723.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.304489 m,
      nav range: 210.048050 m,
      bearing: 70.638505 deg,
      approach rate: -0.712514 m/s,
      LOS rate: 0.002828 deg/s,
      cmd heading: 74.435251 deg,
      new cmd heading: 74.438528 deg.

2025-10-27T15:08:43.789Z,1761577723.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299197 target range: 235.304489 and range: 236.40 m.
2025-10-27T15:08:43.807Z,1761577723.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769567
2025-10-27T15:08:44.061Z,1761577724.061 [DAT](INFO): DAT read: 15:08:41.9406 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 129, 0.34,-0.651,-2.141,-0.280,-0.818, PHS= 0.269,-1.278, 0.494, RAW= 156.7,   6.2, CAL= 156.0,   6.1, ROT= 354.0,  -6.1

2025-10-27T15:08:44.063Z,1761577724.063 [DAT](INFO): got valid direction response:
 15:08:41.9406 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 129, 0.34,-0.651,-2.141,-0.280,-0.818, PHS= 0.269,-1.278, 0.494, RAW= 156.7,   6.2, CAL= 156.0,   6.1, ROT= 354.0,  -6.1

2025-10-27T15:08:44.064Z,1761577724.064 [DAT](INFO): DAT read: Bearing 220.8,  -8.1 (Local)

2025-10-27T15:08:44.064Z,1761577724.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.8,  -8.1 (Local)

2025-10-27T15:08:44.066Z,1761577724.066 [DAT](INFO): DAT read: Range 11 to 50 : 234.9 m  (Round-trip  313.3 ms) speed  0.9 m/s

2025-10-27T15:08:44.068Z,1761577724.068 [DAT](INFO): DAT read: user:960>

2025-10-27T15:08:44.070Z,1761577724.070 [DAT](INFO): DAT read: Tx time:15:08:43.0731

2025-10-27T15:08:44.070Z,1761577724.070 [DAT](INFO): Ping request sent.
2025-10-27T15:08:44.071Z,1761577724.071 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:44.072Z,1761577724.072 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:44.074Z,1761577724.074 [DAT](INFO): direction in FSK: [0.988891,-0.103937,0.106264]
2025-10-27T15:08:44.074Z,1761577724.074 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:44.075Z,1761577724.075 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:44.083Z,1761577724.083 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:44.085Z,1761577724.085 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:44.159Z,1761577724.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269620,-0.949191,-0.162298],[0.962835,0.262941,0.061729],[-0.015918,-0.172910,0.984809]]
2025-10-27T15:08:44.245Z,1761577724.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 234.899994 m,
      deltaT: 4.034322 s,
      deltaX: -1.500000 m,
      approachRate: -0.371810 m/s,
      rangeRepo size: 4

2025-10-27T15:08:44.262Z,1761577724.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 233.809433 m,
      bearing: 69.510268 deg,
      lat: 36.779340 deg,
      lon: -121.859087 deg,
      deltaT: 4.034322 s,
      deltaX: -1.495056 m,
      approachRate: -0.370584 m/s,
      posRepo size: 4

2025-10-27T15:08:44.269Z,1761577724.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.81 m.
2025-10-27T15:08:44.297Z,1761577724.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.809433 m,
      nav range: 226.930496 m,
      bearing: 70.345788 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002828 deg/s,
      cmd heading: 74.438530 deg,
      new cmd heading: 74.442410 deg.

2025-10-27T15:08:44.305Z,1761577724.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299265 target range: 233.809433 and range: 234.90 m.
2025-10-27T15:08:44.537Z,1761577724.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271054,-0.949006,-0.160992],[0.962437,0.264482,0.061353],[-0.015644,-0.171575,0.985047]]
2025-10-27T15:08:44.618Z,1761577724.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.81 m.
2025-10-27T15:08:44.628Z,1761577724.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.809433 m,
      nav range: 226.651428 m,
      bearing: 70.345299 deg,
      approach rate: -0.736051 m/s,
      LOS rate: -0.001293 deg/s,
      cmd heading: 74.442409 deg,
      new cmd heading: 74.440938 deg.

2025-10-27T15:08:44.629Z,1761577724.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299240 target range: 233.809433 and range: 234.90 m.
2025-10-27T15:08:44.942Z,1761577724.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271935,-0.948780,-0.160835],[0.962190,0.265373,0.061383],[-0.015558,-0.171446,0.985071]]
2025-10-27T15:08:44.960Z,1761577724.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.81 m.
2025-10-27T15:08:44.976Z,1761577724.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.809433 m,
      nav range: 226.396179 m,
      bearing: 70.344909 deg,
      approach rate: -0.745070 m/s,
      LOS rate: -0.001139 deg/s,
      cmd heading: 74.440941 deg,
      new cmd heading: 74.439771 deg.

2025-10-27T15:08:44.977Z,1761577724.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299219 target range: 233.809433 and range: 234.90 m.
2025-10-27T15:08:45.352Z,1761577725.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272633,-0.948584,-0.160812],[0.961998,0.266125,0.061131],[-0.015191,-0.171367,0.985090]]
2025-10-27T15:08:45.388Z,1761577725.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.81 m.
2025-10-27T15:08:45.391Z,1761577725.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.809433 m,
      nav range: 226.085587 m,
      bearing: 70.344044 deg,
      approach rate: -0.726071 m/s,
      LOS rate: -0.002026 deg/s,
      cmd heading: 74.439773 deg,
      new cmd heading: 74.437173 deg.

2025-10-27T15:08:45.393Z,1761577725.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299174 target range: 233.809433 and range: 234.90 m.
2025-10-27T15:08:45.763Z,1761577725.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273042,-0.948381,-0.161313],[0.961891,0.266600,0.060739],[-0.014598,-0.171750,0.985032]]
2025-10-27T15:08:45.810Z,1761577725.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:45.816Z,1761577725.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.81 m.
2025-10-27T15:08:45.820Z,1761577725.820 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:45.820Z,1761577725.820 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:45.820Z,1761577725.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:45.822Z,1761577725.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.809433 m,
      nav range: 225.783875 m,
      bearing: 70.343232 deg,
      approach rate: -0.704375 m/s,
      LOS rate: -0.001898 deg/s,
      cmd heading: 74.437171 deg,
      new cmd heading: 74.434732 deg.

2025-10-27T15:08:45.829Z,1761577725.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299131 target range: 233.809433 and range: 234.90 m.
2025-10-27T15:08:46.072Z,1761577726.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001449
2025-10-27T15:08:46.195Z,1761577726.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273553,-0.948476,-0.159882],[0.961755,0.267299,0.059825],[-0.014006,-0.170133,0.985322]]
2025-10-27T15:08:46.221Z,1761577726.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.81 m.
2025-10-27T15:08:46.224Z,1761577726.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.809433 m,
      nav range: 225.480347 m,
      bearing: 70.342459 deg,
      approach rate: -0.750228 m/s,
      LOS rate: -0.001913 deg/s,
      cmd heading: 74.434732 deg,
      new cmd heading: 74.432410 deg.

2025-10-27T15:08:46.225Z,1761577726.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299091 target range: 233.809433 and range: 234.90 m.
2025-10-27T15:08:46.327Z,1761577726.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255644
2025-10-27T15:08:46.577Z,1761577726.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506702
2025-10-27T15:08:46.606Z,1761577726.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273523,-0.948711,-0.158533],[0.961770,0.267433,0.058972],[-0.013550,-0.168603,0.985591]]
2025-10-27T15:08:46.666Z,1761577726.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.81 m.
2025-10-27T15:08:46.669Z,1761577726.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.809433 m,
      nav range: 225.153519 m,
      bearing: 70.340098 deg,
      approach rate: -0.739572 m/s,
      LOS rate: -0.005350 deg/s,
      cmd heading: 74.432410 deg,
      new cmd heading: 74.425317 deg.

2025-10-27T15:08:46.670Z,1761577726.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298967 target range: 233.809433 and range: 234.90 m.
2025-10-27T15:08:46.828Z,1761577726.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757479
2025-10-27T15:08:47.023Z,1761577727.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273247,-0.949003,-0.157258],[0.961859,0.267369,0.057807],[-0.012813,-0.167056,0.985864]]
2025-10-27T15:08:47.041Z,1761577727.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.81 m.
2025-10-27T15:08:47.044Z,1761577727.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.809433 m,
      nav range: 224.862549 m,
      bearing: 70.337972 deg,
      approach rate: -0.769776 m/s,
      LOS rate: -0.005631 deg/s,
      cmd heading: 74.425313 deg,
      new cmd heading: 74.418928 deg.

2025-10-27T15:08:47.045Z,1761577727.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298855 target range: 233.809433 and range: 234.90 m.
2025-10-27T15:08:47.082Z,1761577727.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011448
2025-10-27T15:08:47.335Z,1761577727.335 [DAT](INFO): DAT read: Rx Time:15:08:45.7856

2025-10-27T15:08:47.337Z,1761577727.337 [DAT](INFO): Rx dataTimestamp_ set to:1761577727.335527
2025-10-27T15:08:47.338Z,1761577727.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267391
2025-10-27T15:08:47.431Z,1761577727.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273001,-0.949005,-0.157669],[0.961938,0.267238,0.057082],[-0.012036,-0.167251,0.985841]]
2025-10-27T15:08:47.489Z,1761577727.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.81 m.
2025-10-27T15:08:47.496Z,1761577727.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.809433 m,
      nav range: 224.528397 m,
      bearing: 70.334705 deg,
      approach rate: -0.744966 m/s,
      LOS rate: -0.007296 deg/s,
      cmd heading: 74.418927 deg,
      new cmd heading: 74.409110 deg.

2025-10-27T15:08:47.497Z,1761577727.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298684 target range: 233.809433 and range: 234.90 m.
2025-10-27T15:08:47.585Z,1761577727.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514527
2025-10-27T15:08:47.831Z,1761577727.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272708,-0.949021,-0.158083],[0.962033,0.267090,0.056169],[-0.011083,-0.167398,0.985827]]
2025-10-27T15:08:47.842Z,1761577727.842 [DAT](INFO): DAT read: 15:08:45.7856 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX=  89,-0.18,-1.370,-2.881,-0.976,-1.386, PHS= 0.118,-1.450, 0.366, RAW= 157.2,  11.3, CAL= 157.3,  12.5, ROT= 352.7, -12.5

2025-10-27T15:08:47.843Z,1761577727.843 [DAT](INFO): got valid direction response:
 15:08:45.7856 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX=  89,-0.18,-1.370,-2.881,-0.976,-1.386, PHS= 0.118,-1.450, 0.366, RAW= 157.2,  11.3, CAL= 157.3,  12.5, ROT= 352.7, -12.5

2025-10-27T15:08:47.844Z,1761577727.844 [DAT](INFO): DAT read: Bearing 226.1, -10.2 (Local)

2025-10-27T15:08:47.844Z,1761577727.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.1, -10.2 (Local)

2025-10-27T15:08:47.846Z,1761577727.846 [DAT](INFO): DAT read: Range 11 to 50 : 231.2 m  (Round-trip  308.3 ms) speed  0.6 m/s

2025-10-27T15:08:47.846Z,1761577727.846 [DAT](INFO): DAT read: user:961>

2025-10-27T15:08:47.847Z,1761577727.847 [DAT](INFO): DAT read: Tx time:15:08:46.8731

2025-10-27T15:08:47.848Z,1761577727.848 [DAT](INFO): Ping request sent.
2025-10-27T15:08:47.848Z,1761577727.848 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:47.848Z,1761577727.848 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:47.849Z,1761577727.849 [DAT](INFO): direction in FSK: [0.968383,-0.124052,0.216440]
2025-10-27T15:08:47.849Z,1761577727.849 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:47.849Z,1761577727.849 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:47.861Z,1761577727.861 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:47.861Z,1761577727.861 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:47.934Z,1761577727.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.199997 m,
      deltaT: 3.780127 s,
      deltaX: -3.699997 m,
      approachRate: -0.978802 m/s,
      rangeRepo size: 4

2025-10-27T15:08:47.953Z,1761577727.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 230.127029 m,
      bearing: 69.107762 deg,
      lat: 36.779347 deg,
      lon: -121.859087 deg,
      deltaT: 3.780127 s,
      deltaX: -3.682404 m,
      approachRate: -0.974148 m/s,
      posRepo size: 4

2025-10-27T15:08:47.954Z,1761577727.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.13 m.
2025-10-27T15:08:47.957Z,1761577727.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.127029 m,
      nav range: 224.437988 m,
      bearing: 70.148648 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007296 deg/s,
      cmd heading: 74.409112 deg,
      new cmd heading: 74.399387 deg.

2025-10-27T15:08:47.958Z,1761577727.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298514 target range: 230.127029 and range: 231.20 m.
2025-10-27T15:08:48.290Z,1761577728.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270733,-0.950178,-0.154486],[0.962613,0.265728,0.052576],[-0.008905,-0.162944,0.986595]]
2025-10-27T15:08:48.354Z,1761577728.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:48.368Z,1761577728.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.13 m.
2025-10-27T15:08:48.370Z,1761577728.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.127029 m,
      nav range: 224.129379 m,
      bearing: 70.145188 deg,
      approach rate: -0.711031 m/s,
      LOS rate: -0.007983 deg/s,
      cmd heading: 74.399386 deg,
      new cmd heading: 74.388991 deg.

2025-10-27T15:08:48.376Z,1761577728.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298333 target range: 230.127029 and range: 231.20 m.
2025-10-27T15:08:48.592Z,1761577728.592 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:48.592Z,1761577728.592 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:48.592Z,1761577728.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:48.772Z,1761577728.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.13 m.
2025-10-27T15:08:48.774Z,1761577728.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.127029 m,
      nav range: 223.773422 m,
      bearing: 70.140846 deg,
      approach rate: -0.881045 m/s,
      LOS rate: -0.010764 deg/s,
      cmd heading: 74.388990 deg,
      new cmd heading: 74.375945 deg.

2025-10-27T15:08:48.780Z,1761577728.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298105 target range: 230.127029 and range: 231.20 m.
2025-10-27T15:08:48.845Z,1761577728.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996948
2025-10-27T15:08:49.096Z,1761577729.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248364
2025-10-27T15:08:49.103Z,1761577729.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269453,-0.950664,-0.153732],[0.962989,0.264856,0.050036],[-0.006851,-0.161525,0.986845]]
2025-10-27T15:08:49.122Z,1761577729.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.13 m.
2025-10-27T15:08:49.133Z,1761577729.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.127029 m,
      nav range: 223.475525 m,
      bearing: 70.137103 deg,
      approach rate: -0.850972 m/s,
      LOS rate: -0.010708 deg/s,
      cmd heading: 74.375945 deg,
      new cmd heading: 74.364699 deg.

2025-10-27T15:08:49.134Z,1761577729.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297909 target range: 230.127029 and range: 231.20 m.
2025-10-27T15:08:49.350Z,1761577729.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501991
2025-10-27T15:08:49.497Z,1761577729.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269096,-0.950740,-0.153886],[0.963096,0.264660,0.049010],[-0.005869,-0.161395,0.986872]]
2025-10-27T15:08:49.541Z,1761577729.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.13 m.
2025-10-27T15:08:49.544Z,1761577729.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.127029 m,
      nav range: 223.128860 m,
      bearing: 70.132766 deg,
      approach rate: -0.826963 m/s,
      LOS rate: -0.010362 deg/s,
      cmd heading: 74.364702 deg,
      new cmd heading: 74.351672 deg.

2025-10-27T15:08:49.545Z,1761577729.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297681 target range: 230.127029 and range: 231.20 m.
2025-10-27T15:08:49.601Z,1761577729.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753660
2025-10-27T15:08:49.852Z,1761577729.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004283
2025-10-27T15:08:49.912Z,1761577729.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268293,-0.950866,-0.154507],[0.963326,0.264031,0.047862],[-0.004716,-0.161682,0.986832]]
2025-10-27T15:08:49.931Z,1761577729.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.13 m.
2025-10-27T15:08:49.934Z,1761577729.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.127029 m,
      nav range: 222.806549 m,
      bearing: 70.128652 deg,
      approach rate: -0.826690 m/s,
      LOS rate: -0.010568 deg/s,
      cmd heading: 74.351670 deg,
      new cmd heading: 74.339310 deg.

2025-10-27T15:08:49.935Z,1761577729.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297466 target range: 230.127029 and range: 231.20 m.
2025-10-27T15:08:50.104Z,1761577730.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256240
2025-10-27T15:08:50.306Z,1761577730.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267119,-0.950817,-0.156826],[0.963657,0.262946,0.047173],[-0.003616,-0.163727,0.986499]]
2025-10-27T15:08:50.358Z,1761577730.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510426
2025-10-27T15:08:50.369Z,1761577730.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:50.384Z,1761577730.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.13 m.
2025-10-27T15:08:50.404Z,1761577730.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.127029 m,
      nav range: 222.479233 m,
      bearing: 70.124354 deg,
      approach rate: -0.730662 m/s,
      LOS rate: -0.009608 deg/s,
      cmd heading: 74.339308 deg,
      new cmd heading: 74.326396 deg.

2025-10-27T15:08:50.405Z,1761577730.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297240 target range: 230.127029 and range: 231.20 m.
2025-10-27T15:08:50.608Z,1761577730.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760287
2025-10-27T15:08:50.710Z,1761577730.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266425,-0.950781,-0.158221],[0.963852,0.262344,0.046537],[-0.002738,-0.164900,0.986306]]
2025-10-27T15:08:50.782Z,1761577730.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.13 m.
2025-10-27T15:08:50.785Z,1761577730.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.127029 m,
      nav range: 222.127686 m,
      bearing: 70.120069 deg,
      approach rate: -0.881234 m/s,
      LOS rate: -0.010760 deg/s,
      cmd heading: 74.326399 deg,
      new cmd heading: 74.313522 deg.

2025-10-27T15:08:50.786Z,1761577730.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297016 target range: 230.127029 and range: 231.20 m.
2025-10-27T15:08:50.861Z,1761577730.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013243
2025-10-27T15:08:51.112Z,1761577731.112 [DAT](INFO): DAT read: Rx Time:15:08:49.5824

2025-10-27T15:08:51.112Z,1761577731.112 [DAT](INFO): Rx dataTimestamp_ set to:1761577731.112216
2025-10-27T15:08:51.113Z,1761577731.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265400
2025-10-27T15:08:51.116Z,1761577731.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265976,-0.950850,-0.158556],[0.963977,0.262010,0.045806],[-0.002012,-0.165028,0.986287]]
2025-10-27T15:08:51.215Z,1761577731.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.13 m.
2025-10-27T15:08:51.240Z,1761577731.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.127029 m,
      nav range: 221.799881 m,
      bearing: 70.116020 deg,
      approach rate: -0.750611 m/s,
      LOS rate: -0.009283 deg/s,
      cmd heading: 74.313524 deg,
      new cmd heading: 74.301361 deg.

2025-10-27T15:08:51.241Z,1761577731.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296803 target range: 230.127029 and range: 231.20 m.
2025-10-27T15:08:51.367Z,1761577731.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518459
2025-10-27T15:08:51.519Z,1761577731.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265281,-0.951033,-0.158627],[0.964170,0.261443,0.044984],[-0.001309,-0.164876,0.986313]]
2025-10-27T15:08:51.587Z,1761577731.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.13 m.
2025-10-27T15:08:51.590Z,1761577731.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.127029 m,
      nav range: 221.498932 m,
      bearing: 70.112925 deg,
      approach rate: -0.819107 m/s,
      LOS rate: -0.008437 deg/s,
      cmd heading: 74.301359 deg,
      new cmd heading: 74.292059 deg.

2025-10-27T15:08:51.591Z,1761577731.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296641 target range: 230.127029 and range: 231.20 m.
2025-10-27T15:08:51.622Z,1761577731.622 [DAT](INFO): DAT read: 15:08:49.5824 LVL= 28912, 32753, 29346, 32755, AGC= 59, IDX= 101,-0.30, 2.596, 1.118, 2.996, 2.489, PHS= 0.209,-1.326, 0.464, RAW= 157.5,   7.8, CAL= 157.1,   8.1, ROT= 352.9,  -8.1

2025-10-27T15:08:51.624Z,1761577731.624 [DAT](INFO): got valid direction response:
 15:08:49.5824 LVL= 28912, 32753, 29346, 32755, AGC= 59, IDX= 101,-0.30, 2.596, 1.118, 2.996, 2.489, PHS= 0.209,-1.326, 0.464, RAW= 157.5,   7.8, CAL= 157.1,   8.1, ROT= 352.9,  -8.1

2025-10-27T15:08:51.625Z,1761577731.625 [DAT](INFO): DAT read: Bearing 222.0,  -8.7 (Local)

2025-10-27T15:08:51.625Z,1761577731.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.0,  -8.7 (Local)

2025-10-27T15:08:51.626Z,1761577731.626 [DAT](INFO): DAT read: Range 11 to 50 : 228.8 m  (Round-trip  305.1 ms) speed  0.3 m/s

2025-10-27T15:08:51.627Z,1761577731.627 [DAT](INFO): DAT read: user:962>

2025-10-27T15:08:51.628Z,1761577731.628 [DAT](INFO): DAT read: Tx time:15:08:50.6731

2025-10-27T15:08:51.628Z,1761577731.628 [DAT](INFO): Ping request sent.
2025-10-27T15:08:51.628Z,1761577731.628 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:51.629Z,1761577731.629 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:51.630Z,1761577731.630 [DAT](INFO): direction in FSK: [0.982432,-0.122368,0.140901]
2025-10-27T15:08:51.630Z,1761577731.630 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:51.630Z,1761577731.630 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:51.634Z,1761577731.634 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:51.634Z,1761577731.634 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:51.931Z,1761577731.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264777,-0.951100,-0.159064],[0.964310,0.261038,0.044340],[-0.000650,-0.165128,0.986272]]
2025-10-27T15:08:51.954Z,1761577731.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 228.800003 m,
      deltaT: 3.780054 s,
      deltaX: -2.399994 m,
      approachRate: -0.634910 m/s,
      rangeRepo size: 4

2025-10-27T15:08:51.956Z,1761577731.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 227.737900 m,
      bearing: 68.983741 deg,
      lat: 36.779381 deg,
      lon: -121.859065 deg,
      deltaT: 3.780054 s,
      deltaX: -2.389130 m,
      approachRate: -0.632036 m/s,
      posRepo size: 4

2025-10-27T15:08:51.957Z,1761577731.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.74 m.
2025-10-27T15:08:51.960Z,1761577731.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.737900 m,
      nav range: 224.283371 m,
      bearing: 69.367650 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008437 deg/s,
      cmd heading: 74.292056 deg,
      new cmd heading: 74.282653 deg.

2025-10-27T15:08:51.961Z,1761577731.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296477 target range: 227.737900 and range: 228.80 m.
2025-10-27T15:08:52.287Z,1761577732.287 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:08:52.321Z,1761577732.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264464,-0.951069,-0.159773],[0.964396,0.260779,0.043993],[-0.000175,-0.165719,0.986173]]
2025-10-27T15:08:52.375Z,1761577732.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:52.397Z,1761577732.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.74 m.
2025-10-27T15:08:52.431Z,1761577732.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.737900 m,
      nav range: 223.960037 m,
      bearing: 69.363206 deg,
      approach rate: -0.738623 m/s,
      LOS rate: -0.010166 deg/s,
      cmd heading: 74.282651 deg,
      new cmd heading: 74.269301 deg.

2025-10-27T15:08:52.432Z,1761577732.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296244 target range: 227.737900 and range: 228.80 m.
2025-10-27T15:08:52.628Z,1761577732.628 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:52.628Z,1761577732.628 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:52.628Z,1761577732.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:52.758Z,1761577732.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263797,-0.951240,-0.159856],[0.964578,0.260211,0.043351],[0.000359,-0.165629,0.986188]]
2025-10-27T15:08:52.819Z,1761577732.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.74 m.
2025-10-27T15:08:52.822Z,1761577732.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.737900 m,
      nav range: 223.607803 m,
      bearing: 69.358811 deg,
      approach rate: -0.831407 m/s,
      LOS rate: -0.010390 deg/s,
      cmd heading: 74.269298 deg,
      new cmd heading: 74.256093 deg.

2025-10-27T15:08:52.827Z,1761577732.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296013 target range: 227.737900 and range: 228.80 m.
2025-10-27T15:08:52.881Z,1761577732.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252274
2025-10-27T15:08:53.132Z,1761577733.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503337
2025-10-27T15:08:53.163Z,1761577733.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263124,-0.951450,-0.159716],[0.964762,0.259633,0.042723],[0.000819,-0.165330,0.986238]]
2025-10-27T15:08:53.181Z,1761577733.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.74 m.
2025-10-27T15:08:53.184Z,1761577733.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.737900 m,
      nav range: 223.301743 m,
      bearing: 69.354926 deg,
      approach rate: -0.836307 m/s,
      LOS rate: -0.010631 deg/s,
      cmd heading: 74.256095 deg,
      new cmd heading: 74.244424 deg.

2025-10-27T15:08:53.185Z,1761577733.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295810 target range: 227.737900 and range: 228.80 m.
2025-10-27T15:08:53.291Z,1761577733.291 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:08:53.387Z,1761577733.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758239
2025-10-27T15:08:53.567Z,1761577733.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262878,-0.951584,-0.159322],[0.964829,0.259454,0.042302],[0.001083,-0.164839,0.986320]]
2025-10-27T15:08:53.618Z,1761577733.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.74 m.
2025-10-27T15:08:53.620Z,1761577733.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.737900 m,
      nav range: 222.973740 m,
      bearing: 69.351002 deg,
      approach rate: -0.751012 m/s,
      LOS rate: -0.008997 deg/s,
      cmd heading: 74.244423 deg,
      new cmd heading: 74.232634 deg.

2025-10-27T15:08:53.621Z,1761577733.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295604 target range: 227.737900 and range: 228.80 m.
2025-10-27T15:08:53.636Z,1761577733.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007514
2025-10-27T15:08:53.888Z,1761577733.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259884
2025-10-27T15:08:53.968Z,1761577733.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262762,-0.951697,-0.158837],[0.964860,0.259429,0.041746],[0.001477,-0.164225,0.986422]]
2025-10-27T15:08:53.986Z,1761577733.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.74 m.
2025-10-27T15:08:53.989Z,1761577733.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.737900 m,
      nav range: 222.695526 m,
      bearing: 69.347656 deg,
      approach rate: -0.755413 m/s,
      LOS rate: -0.009096 deg/s,
      cmd heading: 74.232634 deg,
      new cmd heading: 74.222584 deg.

2025-10-27T15:08:53.990Z,1761577733.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295429 target range: 227.737900 and range: 228.80 m.
2025-10-27T15:08:54.140Z,1761577734.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511319
2025-10-27T15:08:54.369Z,1761577734.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262702,-0.951773,-0.158479],[0.964875,0.259431,0.041362],[0.001747,-0.163778,0.986496]]
2025-10-27T15:08:54.389Z,1761577734.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:54.397Z,1761577734.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767539
2025-10-27T15:08:54.419Z,1761577734.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.74 m.
2025-10-27T15:08:54.443Z,1761577734.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.737900 m,
      nav range: 222.390717 m,
      bearing: 69.343976 deg,
      approach rate: -0.706142 m/s,
      LOS rate: -0.008537 deg/s,
      cmd heading: 74.222587 deg,
      new cmd heading: 74.211532 deg.

2025-10-27T15:08:54.451Z,1761577734.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295236 target range: 227.737900 and range: 228.80 m.
2025-10-27T15:08:54.644Z,1761577734.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015287
2025-10-27T15:08:54.770Z,1761577734.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262824,-0.951984,-0.157005],[0.964841,0.259690,0.040526],[0.002192,-0.162136,0.986766]]
2025-10-27T15:08:54.831Z,1761577734.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.74 m.
2025-10-27T15:08:54.838Z,1761577734.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.737900 m,
      nav range: 222.095703 m,
      bearing: 69.342007 deg,
      approach rate: -0.714173 m/s,
      LOS rate: -0.004775 deg/s,
      cmd heading: 74.211528 deg,
      new cmd heading: 74.205611 deg.

2025-10-27T15:08:54.843Z,1761577734.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295132 target range: 227.737900 and range: 228.80 m.
2025-10-27T15:08:54.899Z,1761577734.899 [DAT](INFO): DAT read: Rx Time:15:08:53.3796

2025-10-27T15:08:54.899Z,1761577734.899 [DAT](INFO): Rx dataTimestamp_ set to:1761577734.898885
2025-10-27T15:08:54.900Z,1761577734.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271201
2025-10-27T15:08:55.148Z,1761577735.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519390
2025-10-27T15:08:55.180Z,1761577735.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263060,-0.952038,-0.156279],[0.964777,0.259975,0.040234],[0.002324,-0.161359,0.986893]]
2025-10-27T15:08:55.203Z,1761577735.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.74 m.
2025-10-27T15:08:55.206Z,1761577735.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.737900 m,
      nav range: 221.814346 m,
      bearing: 69.340142 deg,
      approach rate: -0.755438 m/s,
      LOS rate: -0.005013 deg/s,
      cmd heading: 74.205614 deg,
      new cmd heading: 74.200012 deg.

2025-10-27T15:08:55.207Z,1761577735.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295035 target range: 227.737900 and range: 228.80 m.
2025-10-27T15:08:55.409Z,1761577735.409 [DAT](INFO): DAT read: 15:08:53.3796 LVL= 32752, 32753, 30114, 32755, AGC= 56, IDX= 114,-0.04,-1.427,-2.876,-1.057,-1.527, PHS= 0.201,-1.305, 0.426, RAW= 156.8,   8.4, CAL= 156.5,   8.8, ROT= 353.5,  -8.8

2025-10-27T15:08:55.410Z,1761577735.410 [DAT](INFO): got valid direction response:
 15:08:53.3796 LVL= 32752, 32753, 30114, 32755, AGC= 56, IDX= 114,-0.04,-1.427,-2.876,-1.057,-1.527, PHS= 0.201,-1.305, 0.426, RAW= 156.8,   8.4, CAL= 156.5,   8.8, ROT= 353.5,  -8.8

2025-10-27T15:08:55.411Z,1761577735.411 [DAT](INFO): DAT read: Bearing 223.5,  -7.9 (Local)

2025-10-27T15:08:55.412Z,1761577735.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.5,  -7.9 (Local)

2025-10-27T15:08:55.413Z,1761577735.413 [DAT](INFO): DAT read: Range 11 to 50 : 226.8 m  (Round-trip  302.4 ms) speed  0.4 m/s

2025-10-27T15:08:55.414Z,1761577735.414 [DAT](INFO): DAT read: user:963>

2025-10-27T15:08:55.415Z,1761577735.415 [DAT](INFO): DAT read: Tx time:15:08:54.4731

2025-10-27T15:08:55.415Z,1761577735.415 [DAT](INFO): Ping request sent.
2025-10-27T15:08:55.415Z,1761577735.415 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:55.416Z,1761577735.416 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:55.417Z,1761577735.417 [DAT](INFO): direction in FSK: [0.981876,-0.111871,0.152986]
2025-10-27T15:08:55.417Z,1761577735.417 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:55.417Z,1761577735.417 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:55.446Z,1761577735.446 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:55.448Z,1761577735.448 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:55.671Z,1761577735.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 226.800003 m,
      deltaT: 3.783905 s,
      deltaX: -2.000000 m,
      approachRate: -0.528554 m/s,
      rangeRepo size: 4

2025-10-27T15:08:55.674Z,1761577735.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 225.749985 m,
      bearing: 69.756902 deg,
      lat: 36.779381 deg,
      lon: -121.859058 deg,
      deltaT: 3.783905 s,
      deltaX: -1.987915 m,
      approachRate: -0.525361 m/s,
      posRepo size: 4

2025-10-27T15:08:55.674Z,1761577735.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.75 m.
2025-10-27T15:08:55.677Z,1761577735.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.749985 m,
      nav range: 222.086761 m,
      bearing: 69.394909 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005013 deg/s,
      cmd heading: 74.200013 deg,
      new cmd heading: 74.192982 deg.

2025-10-27T15:08:55.678Z,1761577735.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294912 target range: 225.749985 and range: 226.80 m.
2025-10-27T15:08:55.985Z,1761577735.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264132,-0.951926,-0.155147],[0.964483,0.261120,0.039858],[0.002570,-0.160164,0.987087]]
2025-10-27T15:08:56.003Z,1761577736.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.75 m.
2025-10-27T15:08:56.006Z,1761577736.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.749985 m,
      nav range: 221.854065 m,
      bearing: 69.393018 deg,
      approach rate: -0.700081 m/s,
      LOS rate: -0.005697 deg/s,
      cmd heading: 74.192985 deg,
      new cmd heading: 74.187304 deg.

2025-10-27T15:08:56.008Z,1761577736.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294813 target range: 225.749985 and range: 226.80 m.
2025-10-27T15:08:56.386Z,1761577736.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265121,-0.951478,-0.156207],[0.964211,0.262091,0.040068],[0.002816,-0.161240,0.986911]]
2025-10-27T15:08:56.403Z,1761577736.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:56.410Z,1761577736.410 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:08:56.410Z,1761577736.410 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:08:56.410Z,1761577736.410 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:08:56.413Z,1761577736.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.75 m.
2025-10-27T15:08:56.434Z,1761577736.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.749985 m,
      nav range: 221.576874 m,
      bearing: 69.390832 deg,
      approach rate: -0.686117 m/s,
      LOS rate: -0.005417 deg/s,
      cmd heading: 74.187302 deg,
      new cmd heading: 74.180736 deg.

2025-10-27T15:08:56.446Z,1761577736.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294698 target range: 225.749985 and range: 226.80 m.
2025-10-27T15:08:56.660Z,1761577736.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244395
2025-10-27T15:08:56.787Z,1761577736.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266570,-0.951010,-0.156588],[0.963812,0.263499,0.040439],[0.002803,-0.161702,0.986836]]
2025-10-27T15:08:56.834Z,1761577736.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.75 m.
2025-10-27T15:08:56.837Z,1761577736.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.749985 m,
      nav range: 221.287750 m,
      bearing: 69.391150 deg,
      approach rate: -0.676450 m/s,
      LOS rate: 0.000746 deg/s,
      cmd heading: 74.180738 deg,
      new cmd heading: 74.181694 deg.

2025-10-27T15:08:56.838Z,1761577736.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294715 target range: 225.749985 and range: 226.80 m.
2025-10-27T15:08:56.913Z,1761577736.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497220
2025-10-27T15:08:57.164Z,1761577737.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748343
2025-10-27T15:08:57.227Z,1761577737.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.75 m.
2025-10-27T15:08:57.230Z,1761577737.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.749985 m,
      nav range: 221.019287 m,
      bearing: 69.391446 deg,
      approach rate: -0.683481 m/s,
      LOS rate: 0.000755 deg/s,
      cmd heading: 74.181694 deg,
      new cmd heading: 74.182584 deg.

2025-10-27T15:08:57.263Z,1761577737.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294730 target range: 225.749985 and range: 226.80 m.
2025-10-27T15:08:57.416Z,1761577737.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000400
2025-10-27T15:08:57.645Z,1761577737.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.75 m.
2025-10-27T15:08:57.648Z,1761577737.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.749985 m,
      nav range: 220.726639 m,
      bearing: 69.390807 deg,
      approach rate: -0.699856 m/s,
      LOS rate: -0.001531 deg/s,
      cmd heading: 74.182582 deg,
      new cmd heading: 74.180661 deg.

2025-10-27T15:08:57.649Z,1761577737.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294697 target range: 225.749985 and range: 226.80 m.
2025-10-27T15:08:57.668Z,1761577737.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252411
2025-10-27T15:08:57.920Z,1761577737.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504354
2025-10-27T15:08:57.998Z,1761577737.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270087,-0.949993,-0.156738],[0.962830,0.267039,0.040598],[0.003287,-0.161877,0.986805]]
2025-10-27T15:08:58.016Z,1761577738.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.75 m.
2025-10-27T15:08:58.019Z,1761577738.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.749985 m,
      nav range: 220.466919 m,
      bearing: 69.390484 deg,
      approach rate: -0.700414 m/s,
      LOS rate: -0.000871 deg/s,
      cmd heading: 74.180663 deg,
      new cmd heading: 74.179694 deg.

2025-10-27T15:08:58.020Z,1761577738.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294680 target range: 225.749985 and range: 226.80 m.
2025-10-27T15:08:58.172Z,1761577738.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756400
2025-10-27T15:08:58.403Z,1761577738.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271512,-0.949412,-0.157793],[0.962429,0.268404,0.041100],[0.003332,-0.163023,0.986617]]
2025-10-27T15:08:58.420Z,1761577738.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:08:58.422Z,1761577738.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.75 m.
2025-10-27T15:08:58.424Z,1761577738.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008486
2025-10-27T15:08:58.433Z,1761577738.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.749985 m,
      nav range: 220.183029 m,
      bearing: 69.390237 deg,
      approach rate: -0.699555 m/s,
      LOS rate: -0.000610 deg/s,
      cmd heading: 74.179693 deg,
      new cmd heading: 74.178951 deg.

2025-10-27T15:08:58.434Z,1761577738.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294667 target range: 225.749985 and range: 226.80 m.
2025-10-27T15:08:58.676Z,1761577738.676 [DAT](INFO): DAT read: Rx Time:15:08:57.1761

2025-10-27T15:08:58.677Z,1761577738.677 [DAT](INFO): Rx dataTimestamp_ set to:1761577738.676242
2025-10-27T15:08:58.677Z,1761577738.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261550
2025-10-27T15:08:58.807Z,1761577738.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272591,-0.949072,-0.157978],[0.962124,0.269476,0.041240],[0.003431,-0.163236,0.986581]]
2025-10-27T15:08:58.864Z,1761577738.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.75 m.
2025-10-27T15:08:58.866Z,1761577738.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.749985 m,
      nav range: 219.888824 m,
      bearing: 69.389355 deg,
      approach rate: -0.666223 m/s,
      LOS rate: -0.002000 deg/s,
      cmd heading: 74.178948 deg,
      new cmd heading: 74.176298 deg.

2025-10-27T15:08:58.871Z,1761577738.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294621 target range: 225.749985 and range: 226.80 m.
2025-10-27T15:08:58.929Z,1761577738.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513339
2025-10-27T15:08:59.186Z,1761577739.186 [DAT](INFO): DAT read: 15:08:57.1761 LVL= 28544, 32753, 26530, 30643, AGC= 55, IDX=  98, 0.15, 0.707,-0.735, 1.075, 0.656, PHS= 0.154,-1.345, 0.376, RAW= 156.8,  10.1, CAL= 156.7,  10.9, ROT= 353.3, -10.9

2025-10-27T15:08:59.187Z,1761577739.187 [DAT](INFO): got valid direction response:
 15:08:57.1761 LVL= 28544, 32753, 26530, 30643, AGC= 55, IDX=  98, 0.15, 0.707,-0.735, 1.075, 0.656, PHS= 0.154,-1.345, 0.376, RAW= 156.8,  10.1, CAL= 156.7,  10.9, ROT= 353.3, -10.9

2025-10-27T15:08:59.188Z,1761577739.188 [DAT](INFO): DAT read: Bearing 225.2,  -8.2 (Local)

2025-10-27T15:08:59.188Z,1761577739.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.2,  -8.2 (Local)

2025-10-27T15:08:59.190Z,1761577739.190 [DAT](INFO): DAT read: Range 11 to 50 : 224.1 m  (Round-trip  298.9 ms) speed  0.8 m/s

2025-10-27T15:08:59.190Z,1761577739.190 [DAT](INFO): DAT read: user:964>

2025-10-27T15:08:59.191Z,1761577739.191 [DAT](INFO): DAT read: Tx time:15:08:58.2731

2025-10-27T15:08:59.191Z,1761577739.191 [DAT](INFO): Ping request sent.
2025-10-27T15:08:59.192Z,1761577739.192 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:08:59.192Z,1761577739.192 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:08:59.193Z,1761577739.193 [DAT](INFO): direction in FSK: [0.975253,-0.114566,0.189095]
2025-10-27T15:08:59.193Z,1761577739.193 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:59.193Z,1761577739.193 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:59.201Z,1761577739.201 [DAT](INFO): publishing transmit ping time
2025-10-27T15:08:59.201Z,1761577739.201 [DAT](INFO): publishing direction and range info
2025-10-27T15:08:59.324Z,1761577739.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 224.100006 m,
      deltaT: 3.779977 s,
      deltaX: -2.699997 m,
      approachRate: -0.714289 m/s,
      rangeRepo size: 4

2025-10-27T15:08:59.326Z,1761577739.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 223.062881 m,
      bearing: 69.362261 deg,
      lat: 36.779381 deg,
      lon: -121.859065 deg,
      deltaT: 3.779977 s,
      deltaX: -2.687103 m,
      approachRate: -0.710878 m/s,
      posRepo size: 4

2025-10-27T15:08:59.327Z,1761577739.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:08:59.333Z,1761577739.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 218.984726 m,
      bearing: 69.330200 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002000 deg/s,
      cmd heading: 74.176298 deg,
      new cmd heading: 74.173592 deg.

2025-10-27T15:08:59.334Z,1761577739.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294573 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:08:59.659Z,1761577739.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273862,-0.948401,-0.159798],[0.961760,0.270761,0.041297],[0.004101,-0.164997,0.986286]]
2025-10-27T15:08:59.696Z,1761577739.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:08:59.698Z,1761577739.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 218.691681 m,
      bearing: 69.327044 deg,
      approach rate: -0.768494 m/s,
      LOS rate: -0.008287 deg/s,
      cmd heading: 74.173594 deg,
      new cmd heading: 74.164113 deg.

2025-10-27T15:08:59.700Z,1761577739.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294408 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:00.072Z,1761577740.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273898,-0.948393,-0.159783],[0.961748,0.270882,0.040790],[0.004597,-0.164843,0.986309]]
2025-10-27T15:09:00.138Z,1761577740.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:00.141Z,1761577740.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 218.380188 m,
      bearing: 69.323684 deg,
      approach rate: -0.703740 m/s,
      LOS rate: -0.007602 deg/s,
      cmd heading: 74.164113 deg,
      new cmd heading: 74.154019 deg.

2025-10-27T15:09:00.142Z,1761577740.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294232 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:00.461Z,1761577740.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273298,-0.948537,-0.159960],[0.961915,0.270395,0.040072],[0.005243,-0.164819,0.986310]]
2025-10-27T15:09:00.518Z,1761577740.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:00.542Z,1761577740.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:00.557Z,1761577740.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 218.118835 m,
      bearing: 69.320815 deg,
      approach rate: -0.658667 m/s,
      LOS rate: -0.007240 deg/s,
      cmd heading: 74.154018 deg,
      new cmd heading: 74.145400 deg.

2025-10-27T15:09:00.558Z,1761577740.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294081 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:00.694Z,1761577740.694 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:00.694Z,1761577740.694 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:00.694Z,1761577740.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:00.900Z,1761577740.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273034,-0.948382,-0.161321],[0.961987,0.270171,0.039857],[0.005785,-0.166071,0.986097]]
2025-10-27T15:09:00.944Z,1761577740.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752375
2025-10-27T15:09:00.969Z,1761577740.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:00.976Z,1761577740.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 217.760117 m,
      bearing: 69.315827 deg,
      approach rate: -0.826515 m/s,
      LOS rate: -0.011511 deg/s,
      cmd heading: 74.145399 deg,
      new cmd heading: 74.130411 deg.

2025-10-27T15:09:00.977Z,1761577740.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293820 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:01.197Z,1761577741.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004951
2025-10-27T15:09:01.301Z,1761577741.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272827,-0.948400,-0.161562],[0.962041,0.270078,0.039172],[0.006484,-0.166116,0.986085]]
2025-10-27T15:09:01.321Z,1761577741.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:01.340Z,1761577741.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 217.484680 m,
      bearing: 69.311971 deg,
      approach rate: -0.782703 m/s,
      LOS rate: -0.010973 deg/s,
      cmd heading: 74.130413 deg,
      new cmd heading: 74.118829 deg.

2025-10-27T15:09:01.341Z,1761577741.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293618 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:01.448Z,1761577741.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256673
2025-10-27T15:09:01.700Z,1761577741.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508425
2025-10-27T15:09:01.707Z,1761577741.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272215,-0.948198,-0.163770],[0.962211,0.269468,0.039197],[0.006964,-0.168251,0.985720]]
2025-10-27T15:09:01.786Z,1761577741.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:01.789Z,1761577741.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 217.127792 m,
      bearing: 69.303303 deg,
      approach rate: -0.767715 m/s,
      LOS rate: -0.018676 deg/s,
      cmd heading: 74.118829 deg,
      new cmd heading: 74.092783 deg.

2025-10-27T15:09:01.790Z,1761577741.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293163 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:01.952Z,1761577741.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760466
2025-10-27T15:09:02.109Z,1761577742.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271564,-0.948361,-0.163903],[0.962389,0.268957,0.038326],[0.007736,-0.168146,0.985732]]
2025-10-27T15:09:02.129Z,1761577742.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:02.132Z,1761577742.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 216.841171 m,
      bearing: 69.296269 deg,
      approach rate: -0.836205 m/s,
      LOS rate: -0.020547 deg/s,
      cmd heading: 74.092786 deg,
      new cmd heading: 74.071657 deg.

2025-10-27T15:09:02.133Z,1761577742.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.292794 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:02.205Z,1761577742.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013132
2025-10-27T15:09:02.456Z,1761577742.456 [DAT](INFO): DAT read: Rx Time:15:09:00.9423

2025-10-27T15:09:02.456Z,1761577742.456 [DAT](INFO): Rx dataTimestamp_ set to:1761577742.456061
2025-10-27T15:09:02.457Z,1761577742.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265332
2025-10-27T15:09:02.532Z,1761577742.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270499,-0.948631,-0.164102],[0.962684,0.268008,0.037567],[0.008343,-0.168140,0.985728]]
2025-10-27T15:09:02.591Z,1761577742.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:02.594Z,1761577742.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:02.597Z,1761577742.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 216.470901 m,
      bearing: 69.287046 deg,
      approach rate: -0.796558 m/s,
      LOS rate: -0.019876 deg/s,
      cmd heading: 74.071660 deg,
      new cmd heading: 74.043943 deg.

2025-10-27T15:09:02.598Z,1761577742.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.292311 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:02.708Z,1761577742.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516459
2025-10-27T15:09:02.917Z,1761577742.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269549,-0.948785,-0.164773],[0.962943,0.267190,0.036741],[0.009167,-0.168571,0.985647]]
2025-10-27T15:09:02.966Z,1761577742.966 [DAT](INFO): DAT read: 15:09:00.9423 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 103, 0.05,-3.001, 1.764,-2.626, 3.129, PHS= 0.255,-1.320, 0.484, RAW= 156.7,   6.9, CAL= 156.1,   7.0, ROT= 353.9,  -7.0

2025-10-27T15:09:02.967Z,1761577742.967 [DAT](INFO): got valid direction response:
 15:09:00.9423 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 103, 0.05,-3.001, 1.764,-2.626, 3.129, PHS= 0.255,-1.320, 0.484, RAW= 156.7,   6.9, CAL= 156.1,   7.0, ROT= 353.9,  -7.0

2025-10-27T15:09:02.968Z,1761577742.968 [DAT](INFO): DAT read: Bearing 221.0,  -7.0 (Local)

2025-10-27T15:09:02.968Z,1761577742.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.0,  -7.0 (Local)

2025-10-27T15:09:02.970Z,1761577742.970 [DAT](INFO): DAT read: Range 11 to 50 : 198.8 m  (Round-trip  265.1 ms) speed  0.6 m/s

2025-10-27T15:09:02.971Z,1761577742.971 [DAT](INFO): DAT read: user:965>

2025-10-27T15:09:02.971Z,1761577742.971 [DAT](INFO): DAT read: Tx time:15:09:02.0731

2025-10-27T15:09:02.972Z,1761577742.972 [DAT](INFO): Ping request sent.
2025-10-27T15:09:02.972Z,1761577742.972 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:02.972Z,1761577742.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:02.973Z,1761577742.973 [DAT](INFO): direction in FSK: [0.986926,-0.105472,0.121869]
2025-10-27T15:09:02.973Z,1761577742.973 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:02.974Z,1761577742.974 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:02.978Z,1761577742.978 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:02.978Z,1761577742.978 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:03.017Z,1761577743.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 198.800003 m,
 deltaT: 3.780132 s,
 deltaX: -25.300003 m,
 approachRate: -6.692889 m/s,
 rangeRepo size: 4
2025-10-27T15:09:03.018Z,1761577743.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:03.029Z,1761577743.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 216.152710 m,
      bearing: 69.278613 deg,
      approach rate: -0.752100 m/s,
      LOS rate: -0.019964 deg/s,
      cmd heading: 74.043943 deg,
      new cmd heading: 74.018605 deg.

2025-10-27T15:09:03.039Z,1761577743.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.291868 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:03.395Z,1761577743.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268030,-0.949640,-0.162310],[0.963363,0.265860,0.035356],[0.009576,-0.165840,0.986106]]
2025-10-27T15:09:03.423Z,1761577743.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:03.426Z,1761577743.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 215.809952 m,
      bearing: 69.269357 deg,
      approach rate: -0.844276 m/s,
      LOS rate: -0.022835 deg/s,
      cmd heading: 74.018603 deg,
      new cmd heading: 73.990792 deg.

2025-10-27T15:09:03.427Z,1761577743.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.291383 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:03.786Z,1761577743.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266404,-0.950226,-0.161552],[0.963807,0.264410,0.034120],[0.010295,-0.164795,0.986274]]
2025-10-27T15:09:03.830Z,1761577743.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:03.833Z,1761577743.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 215.475967 m,
      bearing: 69.260742 deg,
      approach rate: -0.820604 m/s,
      LOS rate: -0.021199 deg/s,
      cmd heading: 73.990790 deg,
      new cmd heading: 73.964906 deg.

2025-10-27T15:09:03.833Z,1761577743.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290931 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:04.190Z,1761577744.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265270,-0.950440,-0.162160],[0.964111,0.263405,0.033294],[0.011070,-0.165172,0.986203]]
2025-10-27T15:09:04.208Z,1761577744.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:04.211Z,1761577744.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 215.164688 m,
      bearing: 69.252591 deg,
      approach rate: -0.821901 m/s,
      LOS rate: -0.021553 deg/s,
      cmd heading: 73.964904 deg,
      new cmd heading: 73.940416 deg.

2025-10-27T15:09:04.212Z,1761577744.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290504 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:04.614Z,1761577744.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264098,-0.950506,-0.163679],[0.964426,0.262290,0.032959],[0.011603,-0.166561,0.985963]]
2025-10-27T15:09:04.666Z,1761577744.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:04.669Z,1761577744.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:04.671Z,1761577744.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 214.822678 m,
      bearing: 69.242049 deg,
      approach rate: -0.743167 m/s,
      LOS rate: -0.022944 deg/s,
      cmd heading: 73.940418 deg,
      new cmd heading: 73.908741 deg.

2025-10-27T15:09:04.672Z,1761577744.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.289951 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:04.725Z,1761577744.725 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:04.725Z,1761577744.725 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:04.725Z,1761577744.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:04.976Z,1761577744.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004415
2025-10-27T15:09:05.004Z,1761577745.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263356,-0.950995,-0.162024],[0.964626,0.261651,0.032166],[0.011804,-0.164764,0.986262]]
2025-10-27T15:09:05.022Z,1761577745.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:05.025Z,1761577745.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 214.535782 m,
      bearing: 69.233119 deg,
      approach rate: -0.811850 m/s,
      LOS rate: -0.025305 deg/s,
      cmd heading: 73.908739 deg,
      new cmd heading: 73.881913 deg.

2025-10-27T15:09:05.026Z,1761577745.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.289483 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:05.228Z,1761577745.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256061
2025-10-27T15:09:05.410Z,1761577745.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262655,-0.951292,-0.161417],[0.964811,0.261070,0.031336],[0.012332,-0.163968,0.986389]]
2025-10-27T15:09:05.435Z,1761577745.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:05.438Z,1761577745.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 214.216660 m,
      bearing: 69.223094 deg,
      approach rate: -0.772849 m/s,
      LOS rate: -0.024316 deg/s,
      cmd heading: 73.881910 deg,
      new cmd heading: 73.851789 deg.

2025-10-27T15:09:05.439Z,1761577745.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.288957 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:05.481Z,1761577745.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508910
2025-10-27T15:09:05.733Z,1761577745.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760579
2025-10-27T15:09:05.806Z,1761577745.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262092,-0.951458,-0.161355],[0.964959,0.260582,0.030829],[0.012714,-0.163781,0.986415]]
2025-10-27T15:09:05.893Z,1761577745.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:05.913Z,1761577745.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 213.884384 m,
      bearing: 69.213020 deg,
      approach rate: -0.724955 m/s,
      LOS rate: -0.022012 deg/s,
      cmd heading: 73.851789 deg,
      new cmd heading: 73.821523 deg.

2025-10-27T15:09:05.913Z,1761577745.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.288429 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:05.985Z,1761577745.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012545
2025-10-27T15:09:06.210Z,1761577746.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261643,-0.951429,-0.162255],[0.965076,0.260174,0.030623],[0.013079,-0.164601,0.986274]]
2025-10-27T15:09:06.236Z,1761577746.236 [DAT](INFO): DAT read: Rx Time:15:09:04.7384

2025-10-27T15:09:06.237Z,1761577746.237 [DAT](INFO): Rx dataTimestamp_ set to:1761577746.236235
2025-10-27T15:09:06.237Z,1761577746.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265275
2025-10-27T15:09:06.242Z,1761577746.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:06.244Z,1761577746.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 213.589355 m,
      bearing: 69.204014 deg,
      approach rate: -0.846745 m/s,
      LOS rate: -0.025885 deg/s,
      cmd heading: 73.821525 deg,
      new cmd heading: 73.794468 deg.

2025-10-27T15:09:06.245Z,1761577746.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.287956 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:06.488Z,1761577746.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516071
2025-10-27T15:09:06.658Z,1761577746.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261736,-0.951221,-0.163317],[0.965049,0.260250,0.030817],[0.013190,-0.165674,0.986092]]
2025-10-27T15:09:06.702Z,1761577746.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:06.705Z,1761577746.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.06 m.
2025-10-27T15:09:06.707Z,1761577746.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.062881 m,
      nav range: 213.252808 m,
      bearing: 69.195342 deg,
      approach rate: -0.727050 m/s,
      LOS rate: -0.018763 deg/s,
      cmd heading: 73.794470 deg,
      new cmd heading: 73.768414 deg.

2025-10-27T15:09:06.708Z,1761577746.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.287502 target range: 223.062881 and range: 224.10 m.
2025-10-27T15:09:06.749Z,1761577746.749 [DAT](INFO): DAT read: 15:09:04.7383 LVL= 32752, 32753, 32722, 32755, AGC= 56, IDX= 400,-0.32, 2.533, 1.031, 2.985, 2.433, PHS= 0.202,-1.357, 0.507, RAW= 158.8,   7.5, CAL= 158.3,   7.6, ROT= 351.7,  -7.6

2025-10-27T15:09:06.750Z,1761577746.750 [DAT](INFO): got valid direction response:
 15:09:04.7383 LVL= 32752, 32753, 32722, 32755, AGC= 56, IDX= 400,-0.32, 2.533, 1.031, 2.985, 2.433, PHS= 0.202,-1.357, 0.507, RAW= 158.8,   7.5, CAL= 158.3,   7.6, ROT= 351.7,  -7.6

2025-10-27T15:09:06.753Z,1761577746.753 [DAT](INFO): DAT read: Bearing 221.7,  -9.3 (Local)

2025-10-27T15:09:06.753Z,1761577746.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.7,  -9.3 (Local)

2025-10-27T15:09:06.755Z,1761577746.755 [DAT](INFO): DAT read: Range 11 to 50 : 195.9 m  (Round-trip  261.2 ms) speed  0.7 m/s

2025-10-27T15:09:06.756Z,1761577746.756 [DAT](INFO): DAT read: user:966>

2025-10-27T15:09:06.757Z,1761577746.757 [DAT](INFO): DAT read: Tx time:15:09:05.8230

2025-10-27T15:09:06.757Z,1761577746.757 [DAT](INFO): Ping request sent.
2025-10-27T15:09:06.757Z,1761577746.757 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:06.757Z,1761577746.757 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:06.758Z,1761577746.758 [DAT](INFO): direction in FSK: [0.980833,-0.143088,0.132256]
2025-10-27T15:09:06.758Z,1761577746.758 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:06.771Z,1761577746.771 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:06.774Z,1761577746.774 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:06.774Z,1761577746.774 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:07.065Z,1761577747.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262098,-0.951128,-0.163282],[0.964953,0.260583,0.031014],[0.013050,-0.165689,0.986092]]
2025-10-27T15:09:07.088Z,1761577747.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 195.899994 m,
      deltaT: 7.560732 s,
      deltaX: -28.200012 m,
      approachRate: -3.729799 m/s,
      rangeRepo size: 4

2025-10-27T15:09:07.090Z,1761577747.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 194.992538 m,
      bearing: 67.860611 deg,
      lat: 36.779370 deg,
      lon: -121.859073 deg,
      deltaT: 7.560732 s,
      deltaX: -28.070343 m,
      approachRate: -3.712649 m/s,
      posRepo size: 4

2025-10-27T15:09:07.107Z,1761577747.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:07.110Z,1761577747.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 211.860397 m,
      bearing: 69.420782 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018763 deg/s,
      cmd heading: 73.768413 deg,
      new cmd heading: 73.746876 deg.

2025-10-27T15:09:07.111Z,1761577747.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.287126 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:07.462Z,1761577747.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262554,-0.950894,-0.163908],[0.964831,0.260989,0.031404],[0.012916,-0.166389,0.985976]]
2025-10-27T15:09:07.502Z,1761577747.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:07.512Z,1761577747.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 211.563599 m,
      bearing: 69.413449 deg,
      approach rate: -0.714701 m/s,
      LOS rate: -0.017681 deg/s,
      cmd heading: 73.746878 deg,
      new cmd heading: 73.724850 deg.

2025-10-27T15:09:07.513Z,1761577747.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286741 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:07.927Z,1761577747.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264644,-0.949974,-0.165872],[0.964268,0.262869,0.032968],[0.012284,-0.168670,0.985596]]
2025-10-27T15:09:07.983Z,1761577747.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:07.986Z,1761577747.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 211.214310 m,
      bearing: 69.407495 deg,
      approach rate: -0.727317 m/s,
      LOS rate: -0.012418 deg/s,
      cmd heading: 73.724850 deg,
      new cmd heading: 73.706959 deg.

2025-10-27T15:09:07.986Z,1761577747.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286429 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:08.326Z,1761577748.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265877,-0.949612,-0.165971],[0.963934,0.264005,0.033650],[0.011863,-0.168932,0.985556]]
2025-10-27T15:09:08.345Z,1761577748.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:08.349Z,1761577748.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 210.951630 m,
      bearing: 69.403096 deg,
      approach rate: -0.725678 m/s,
      LOS rate: -0.012168 deg/s,
      cmd heading: 73.706962 deg,
      new cmd heading: 73.693748 deg.

2025-10-27T15:09:08.350Z,1761577748.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286198 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:08.772Z,1761577748.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267610,-0.948735,-0.168186],[0.963454,0.265635,0.034559],[0.011889,-0.171288,0.985149]]
2025-10-27T15:09:08.815Z,1761577748.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:08.817Z,1761577748.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:08.820Z,1761577748.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 210.620956 m,
      bearing: 69.400077 deg,
      approach rate: -0.699587 m/s,
      LOS rate: -0.006397 deg/s,
      cmd heading: 73.693745 deg,
      new cmd heading: 73.684674 deg.

2025-10-27T15:09:08.821Z,1761577748.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286040 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:09.008Z,1761577749.008 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:09.008Z,1761577749.008 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:09.009Z,1761577749.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:09.260Z,1761577749.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503311
2025-10-27T15:09:09.267Z,1761577749.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269856,-0.948013,-0.168667],[0.962824,0.267869,0.034863],[0.012130,-0.171804,0.985056]]
2025-10-27T15:09:09.285Z,1761577749.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:09.287Z,1761577749.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 210.293289 m,
      bearing: 69.397283 deg,
      approach rate: -0.701314 m/s,
      LOS rate: -0.005989 deg/s,
      cmd heading: 73.684675 deg,
      new cmd heading: 73.676281 deg.

2025-10-27T15:09:09.288Z,1761577749.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285894 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:09.512Z,1761577749.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755007
2025-10-27T15:09:09.699Z,1761577749.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271857,-0.947617,-0.167677],[0.962249,0.270034,0.034026],[0.013035,-0.170598,0.985255]]
2025-10-27T15:09:09.764Z,1761577749.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006812
2025-10-27T15:09:09.774Z,1761577749.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:09.781Z,1761577749.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 209.968246 m,
      bearing: 69.393842 deg,
      approach rate: -0.663465 m/s,
      LOS rate: -0.007035 deg/s,
      cmd heading: 73.676281 deg,
      new cmd heading: 73.665941 deg.

2025-10-27T15:09:09.782Z,1761577749.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285713 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:10.021Z,1761577750.021 [DAT](INFO): DAT read: Rx Time:15:09:08.4547

2025-10-27T15:09:10.022Z,1761577750.022 [DAT](INFO): Rx dataTimestamp_ set to:1761577750.021103
2025-10-27T15:09:10.024Z,1761577750.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266160
2025-10-27T15:09:10.120Z,1761577750.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274204,-0.947006,-0.167305],[0.961569,0.272534,0.033319],[0.014043,-0.170012,0.985342]]
2025-10-27T15:09:10.138Z,1761577750.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:10.141Z,1761577750.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 209.684662 m,
      bearing: 69.391022 deg,
      approach rate: -0.779297 m/s,
      LOS rate: -0.007760 deg/s,
      cmd heading: 73.665940 deg,
      new cmd heading: 73.657469 deg.

2025-10-27T15:09:10.142Z,1761577750.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285565 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:10.269Z,1761577750.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511618
2025-10-27T15:09:10.531Z,1761577750.531 [DAT](INFO): DAT read: 15:09:08.4547 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 103,-0.01, 2.044, 0.494, 2.441, 1.943, PHS= 0.204,-1.404, 0.454, RAW= 157.1,   8.6, CAL= 156.8,   9.0, ROT= 353.2,  -9.0

2025-10-27T15:09:10.533Z,1761577750.533 [DAT](INFO): got valid direction response:
 15:09:08.4547 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 103,-0.01, 2.044, 0.494, 2.441, 1.943, PHS= 0.204,-1.404, 0.454, RAW= 157.1,   8.6, CAL= 156.8,   9.0, ROT= 353.2,  -9.0

2025-10-27T15:09:10.534Z,1761577750.534 [DAT](INFO): DAT read: Bearing 223.7,  -7.7 (Local)

2025-10-27T15:09:10.535Z,1761577750.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.7,  -7.7 (Local)

2025-10-27T15:09:10.537Z,1761577750.537 [DAT](INFO): DAT read: Range 11 to 50 : 170.7 m  (Round-trip  227.6 ms) speed  0.5 m/s

2025-10-27T15:09:10.539Z,1761577750.539 [DAT](INFO): DAT read: user:967>

2025-10-27T15:09:10.540Z,1761577750.540 [DAT](INFO): DAT read: Tx time:15:09:09.5730

2025-10-27T15:09:10.541Z,1761577750.541 [DAT](INFO): Ping request sent.
2025-10-27T15:09:10.541Z,1761577750.541 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:10.541Z,1761577750.541 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:10.555Z,1761577750.555 [DAT](INFO): direction in FSK: [0.980740,-0.116946,0.156434]
2025-10-27T15:09:10.555Z,1761577750.555 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:10.556Z,1761577750.556 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:10.559Z,1761577750.559 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:10.559Z,1761577750.559 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:10.564Z,1761577750.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276285,-0.946301,-0.167870],[0.960951,0.274815,0.032400],[0.015473,-0.170266,0.985277]]
2025-10-27T15:09:10.700Z,1761577750.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 170.699997 m,
 deltaT: 3.780081 s,
 deltaX: -25.199997 m,
 approachRate: -6.666523 m/s,
 rangeRepo size: 4
2025-10-27T15:09:10.707Z,1761577750.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:10.710Z,1761577750.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 209.346863 m,
      bearing: 69.387854 deg,
      approach rate: -0.624893 m/s,
      LOS rate: -0.005871 deg/s,
      cmd heading: 73.657470 deg,
      new cmd heading: 73.647950 deg.

2025-10-27T15:09:10.723Z,1761577750.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285399 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:11.057Z,1761577751.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278895,-0.945344,-0.168947],[0.960172,0.277609,0.031670],[0.016962,-0.171050,0.985116]]
2025-10-27T15:09:11.110Z,1761577751.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:11.116Z,1761577751.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:11.123Z,1761577751.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 208.999405 m,
      bearing: 69.385257 deg,
      approach rate: -0.794549 m/s,
      LOS rate: -0.005947 deg/s,
      cmd heading: 73.647949 deg,
      new cmd heading: 73.640147 deg.

2025-10-27T15:09:11.124Z,1761577751.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285263 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:11.292Z,1761577751.292 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:11.292Z,1761577751.292 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:11.292Z,1761577751.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:11.481Z,1761577751.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:11.484Z,1761577751.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 208.719711 m,
      bearing: 69.383161 deg,
      approach rate: -0.767103 m/s,
      LOS rate: -0.005757 deg/s,
      cmd heading: 73.640149 deg,
      new cmd heading: 73.633852 deg.

2025-10-27T15:09:11.485Z,1761577751.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285153 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:11.545Z,1761577751.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004485
2025-10-27T15:09:11.796Z,1761577751.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255463
2025-10-27T15:09:11.854Z,1761577751.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282728,-0.943615,-0.172210],[0.958985,0.281871,0.029930],[0.020298,-0.173608,0.984606]]
2025-10-27T15:09:11.919Z,1761577751.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:11.922Z,1761577751.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 208.412369 m,
      bearing: 69.379375 deg,
      approach rate: -0.707554 m/s,
      LOS rate: -0.008730 deg/s,
      cmd heading: 73.633852 deg,
      new cmd heading: 73.622476 deg.

2025-10-27T15:09:11.923Z,1761577751.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284955 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:12.048Z,1761577752.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507586
2025-10-27T15:09:12.258Z,1761577752.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283764,-0.942936,-0.174209],[0.958642,0.283136,0.028986],[0.021993,-0.175229,0.984282]]
2025-10-27T15:09:12.276Z,1761577752.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:12.279Z,1761577752.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 208.139359 m,
      bearing: 69.376078 deg,
      approach rate: -0.756313 m/s,
      LOS rate: -0.009146 deg/s,
      cmd heading: 73.622472 deg,
      new cmd heading: 73.612568 deg.

2025-10-27T15:09:12.280Z,1761577752.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284782 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:12.300Z,1761577752.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759393
2025-10-27T15:09:12.553Z,1761577752.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012171
2025-10-27T15:09:12.681Z,1761577752.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284764,-0.942067,-0.177255],[0.958300,0.284374,0.028148],[0.023889,-0.177879,0.983762]]
2025-10-27T15:09:12.759Z,1761577752.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:12.762Z,1761577752.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 207.812561 m,
      bearing: 69.372203 deg,
      approach rate: -0.683074 m/s,
      LOS rate: -0.008112 deg/s,
      cmd heading: 73.612569 deg,
      new cmd heading: 73.600926 deg.

2025-10-27T15:09:12.763Z,1761577752.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284578 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:12.804Z,1761577752.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263549
2025-10-27T15:09:13.057Z,1761577753.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515965
2025-10-27T15:09:13.096Z,1761577753.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285177,-0.941810,-0.177956],[0.958126,0.285124,0.026430],[0.025848,-0.178042,0.983683]]
2025-10-27T15:09:13.143Z,1761577753.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:13.145Z,1761577753.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:13.148Z,1761577753.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 207.486862 m,
      bearing: 69.366605 deg,
      approach rate: -0.834500 m/s,
      LOS rate: -0.014365 deg/s,
      cmd heading: 73.600923 deg,
      new cmd heading: 73.584103 deg.

2025-10-27T15:09:13.149Z,1761577753.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284285 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:13.308Z,1761577753.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767614
2025-10-27T15:09:13.501Z,1761577753.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284492,-0.942161,-0.177192],[0.958263,0.284912,0.023617],[0.028233,-0.176515,0.983893]]
2025-10-27T15:09:13.552Z,1761577753.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:13.554Z,1761577753.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 207.186035 m,
      bearing: 69.361366 deg,
      approach rate: -0.739329 m/s,
      LOS rate: -0.012894 deg/s,
      cmd heading: 73.584100 deg,
      new cmd heading: 73.568362 deg.

2025-10-27T15:09:13.560Z,1761577753.560 [DAT](INFO): DAT read: Rx Time:15:09:12.2011

2025-10-27T15:09:13.560Z,1761577753.560 [DAT](INFO): Rx dataTimestamp_ set to:1761577753.560215
2025-10-27T15:09:13.561Z,1761577753.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020629
2025-10-27T15:09:13.562Z,1761577753.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284010 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:13.816Z,1761577753.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275658
2025-10-27T15:09:13.909Z,1761577753.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283615,-0.942230,-0.178230],[0.958451,0.284455,0.021372],[0.030561,-0.176887,0.983757]]
2025-10-27T15:09:13.974Z,1761577753.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.99 m.
2025-10-27T15:09:13.981Z,1761577753.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.992538 m,
      nav range: 206.847214 m,
      bearing: 69.352418 deg,
      approach rate: -0.802856 m/s,
      LOS rate: -0.021238 deg/s,
      cmd heading: 73.568364 deg,
      new cmd heading: 73.541476 deg.

2025-10-27T15:09:13.982Z,1761577753.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.283541 target range: 194.992538 and range: 195.90 m.
2025-10-27T15:09:14.068Z,1761577754.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527079
2025-10-27T15:09:14.322Z,1761577754.322 [DAT](INFO): DAT read: 15:09:12.2011 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 403,-0.18, 3.074, 1.565,-2.868, 2.882, PHS= 0.294,-1.272, 0.489, RAW= 155.8,   5.9, CAL= 155.1,   5.8, ROT= 354.9,  -5.8

2025-10-27T15:09:14.323Z,1761577754.323 [DAT](INFO): got valid direction response:
 15:09:12.2011 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 403,-0.18, 3.074, 1.565,-2.868, 2.882, PHS= 0.294,-1.272, 0.489, RAW= 155.8,   5.9, CAL= 155.1,   5.8, ROT= 354.9,  -5.8

2025-10-27T15:09:14.324Z,1761577754.324 [DAT](INFO): DAT read: Bearing 220.5,  -4.4 (Local)

2025-10-27T15:09:14.324Z,1761577754.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.5,  -4.4 (Local)

2025-10-27T15:09:14.326Z,1761577754.326 [DAT](INFO): DAT read: Range 11 to 50 : 168.0 m  (Round-trip  224.0 ms) speed  0.4 m/s

2025-10-27T15:09:14.326Z,1761577754.326 [DAT](INFO): DAT read: user:968>

2025-10-27T15:09:14.327Z,1761577754.327 [DAT](INFO): DAT read: Tx time:15:09:13.3230

2025-10-27T15:09:14.327Z,1761577754.327 [DAT](INFO): Ping request sent.
2025-10-27T15:09:14.328Z,1761577754.328 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:14.328Z,1761577754.328 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:14.329Z,1761577754.329 [DAT](INFO): direction in FSK: [0.990942,-0.088439,0.101056]
2025-10-27T15:09:14.329Z,1761577754.329 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:14.329Z,1761577754.329 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:14.338Z,1761577754.338 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:14.339Z,1761577754.339 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:14.433Z,1761577754.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281094,-0.943654,-0.174649],[0.959053,0.282797,0.015587],[0.034682,-0.171879,0.984507]]
2025-10-27T15:09:14.481Z,1761577754.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.000000 m,
      deltaT: 7.575299 s,
      deltaX: -27.899994 m,
      approachRate: -3.683022 m/s,
      rangeRepo size: 4

2025-10-27T15:09:14.485Z,1761577754.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 167.223526 m,
      bearing: 69.619955 deg,
      lat: 36.779309 deg,
      lon: -121.859301 deg,
      deltaT: 7.575299 s,
      deltaX: -27.769012 m,
      approachRate: -3.665731 m/s,
      posRepo size: 4

2025-10-27T15:09:14.485Z,1761577754.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:14.496Z,1761577754.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 185.063644 m,
      bearing: 69.100429 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021238 deg/s,
      cmd heading: 73.541473 deg,
      new cmd heading: 73.509194 deg.

2025-10-27T15:09:14.497Z,1761577754.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282977 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:14.834Z,1761577754.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279572,-0.944351,-0.173325],[0.959410,0.281737,0.012495],[0.037032,-0.169783,0.984785]]
2025-10-27T15:09:14.872Z,1761577754.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:14.891Z,1761577754.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 184.737076 m,
      bearing: 69.089340 deg,
      approach rate: -0.833417 m/s,
      LOS rate: -0.028351 deg/s,
      cmd heading: 73.509194 deg,
      new cmd heading: 73.475866 deg.

2025-10-27T15:09:14.892Z,1761577754.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282396 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:15.238Z,1761577755.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277790,-0.945220,-0.171437],[0.959843,0.280378,0.009428],[0.039156,-0.167172,0.985150]]
2025-10-27T15:09:15.254Z,1761577755.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:15.273Z,1761577755.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:15.284Z,1761577755.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 184.430115 m,
      bearing: 69.078707 deg,
      approach rate: -0.766468 m/s,
      LOS rate: -0.026593 deg/s,
      cmd heading: 73.475869 deg,
      new cmd heading: 73.443918 deg.

2025-10-27T15:09:15.285Z,1761577755.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.281838 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:15.324Z,1761577755.324 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:15.324Z,1761577755.324 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:15.324Z,1761577755.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:15.577Z,1761577755.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248963
2025-10-27T15:09:15.646Z,1761577755.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276157,-0.945639,-0.171768],[0.960225,0.279139,0.007035],[0.041295,-0.166879,0.985112]]
2025-10-27T15:09:15.700Z,1761577755.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:15.702Z,1761577755.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 184.094543 m,
      bearing: 69.066865 deg,
      approach rate: -0.785797 m/s,
      LOS rate: -0.027780 deg/s,
      cmd heading: 73.443918 deg,
      new cmd heading: 73.408327 deg.

2025-10-27T15:09:15.709Z,1761577755.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.281217 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:15.828Z,1761577755.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500367
2025-10-27T15:09:16.080Z,1761577756.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752138
2025-10-27T15:09:16.234Z,1761577756.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274918,-0.946007,-0.171726],[0.960529,0.278125,0.005586],[0.042477,-0.166483,0.985129]]
2025-10-27T15:09:16.271Z,1761577756.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:16.274Z,1761577756.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 183.615707 m,
      bearing: 69.046608 deg,
      approach rate: -0.838696 m/s,
      LOS rate: -0.035573 deg/s,
      cmd heading: 73.408326 deg,
      new cmd heading: 73.347396 deg.

2025-10-27T15:09:16.275Z,1761577756.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.280154 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:16.332Z,1761577756.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004623
2025-10-27T15:09:16.584Z,1761577756.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256291
2025-10-27T15:09:16.647Z,1761577756.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273754,-0.946200,-0.172523],[0.960782,0.277278,0.003810],[0.044232,-0.166800,0.984998]]
2025-10-27T15:09:16.681Z,1761577756.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:16.688Z,1761577756.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 183.297989 m,
      bearing: 69.032988 deg,
      approach rate: -0.774644 m/s,
      LOS rate: -0.033266 deg/s,
      cmd heading: 73.347393 deg,
      new cmd heading: 73.306462 deg.

2025-10-27T15:09:16.689Z,1761577756.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.279439 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:16.836Z,1761577756.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508393
2025-10-27T15:09:17.088Z,1761577757.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760358
2025-10-27T15:09:17.164Z,1761577757.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270909,-0.947026,-0.172479],[0.961406,0.275135,-0.000617],[0.048039,-0.165656,0.985013]]
2025-10-27T15:09:17.200Z,1761577757.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:17.203Z,1761577757.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 182.860428 m,
      bearing: 69.015322 deg,
      approach rate: -0.842411 m/s,
      LOS rate: -0.034093 deg/s,
      cmd heading: 73.306460 deg,
      new cmd heading: 73.253335 deg.

2025-10-27T15:09:17.204Z,1761577757.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.278512 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:17.340Z,1761577757.340 [DAT](INFO): DAT read: Rx Time:15:09:15.9782

2025-10-27T15:09:17.341Z,1761577757.341 [DAT](INFO): Rx dataTimestamp_ set to:1761577757.340589
2025-10-27T15:09:17.341Z,1761577757.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013813
2025-10-27T15:09:17.565Z,1761577757.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269950,-0.947155,-0.173278],[0.961600,0.274446,-0.002069],[0.049515,-0.166066,0.984871]]
2025-10-27T15:09:17.581Z,1761577757.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:17.584Z,1761577757.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:17.586Z,1761577757.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 182.547455 m,
      bearing: 69.002536 deg,
      approach rate: -0.816133 m/s,
      LOS rate: -0.033399 deg/s,
      cmd heading: 73.253335 deg,
      new cmd heading: 73.214911 deg.

2025-10-27T15:09:17.588Z,1761577757.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277841 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:17.592Z,1761577757.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264401
2025-10-27T15:09:17.847Z,1761577757.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518797
2025-10-27T15:09:17.966Z,1761577757.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269275,-0.947368,-0.173161],[0.961726,0.273992,-0.003481],[0.050742,-0.165596,0.984887]]
2025-10-27T15:09:18.054Z,1761577758.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:18.061Z,1761577758.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 182.197845 m,
      bearing: 68.989451 deg,
      approach rate: -0.743061 m/s,
      LOS rate: -0.027864 deg/s,
      cmd heading: 73.214908 deg,
      new cmd heading: 73.175578 deg.

2025-10-27T15:09:18.062Z,1761577758.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277155 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:18.102Z,1761577758.102 [DAT](INFO): DAT read: 15:09:15.9782 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 199, 0.11, 2.918, 1.413,-2.949, 2.771, PHS= 0.249,-1.313, 0.519, RAW= 157.8,   6.4, CAL= 157.2,   6.3, ROT= 352.8,  -6.3

2025-10-27T15:09:18.103Z,1761577758.103 [DAT](INFO): got valid direction response:
 15:09:15.9782 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 199, 0.11, 2.918, 1.413,-2.949, 2.771, PHS= 0.249,-1.313, 0.519, RAW= 157.8,   6.4, CAL= 157.2,   6.3, ROT= 352.8,  -6.3

2025-10-27T15:09:18.104Z,1761577758.104 [DAT](INFO): DAT read: Bearing 220.5,  -5.5 (Local)

2025-10-27T15:09:18.104Z,1761577758.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.5,  -5.5 (Local)

2025-10-27T15:09:18.106Z,1761577758.106 [DAT](INFO): DAT read: Range 11 to 50 : 188.2 m  (Round-trip  251.0 ms) speed  0.2 m/s

2025-10-27T15:09:18.107Z,1761577758.107 [DAT](INFO): DAT read: user:969>

2025-10-27T15:09:18.108Z,1761577758.108 [DAT](INFO): DAT read: Tx time:15:09:17.0730

2025-10-27T15:09:18.108Z,1761577758.108 [DAT](INFO): Ping request sent.
2025-10-27T15:09:18.108Z,1761577758.108 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:18.108Z,1761577758.108 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:18.109Z,1761577758.109 [DAT](INFO): direction in FSK: [0.986123,-0.124577,0.109734]
2025-10-27T15:09:18.110Z,1761577758.110 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:18.110Z,1761577758.110 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:18.113Z,1761577758.113 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:18.113Z,1761577758.113 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:18.413Z,1761577758.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268368,-0.947623,-0.173171],[0.961911,0.273319,-0.004952],[0.052024,-0.165247,0.984879]]
2025-10-27T15:09:18.436Z,1761577758.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 188.199997 m,
 deltaT: 3.780127 s,
 deltaX: 20.199997 m,
 approachRate: 5.343735 m/s,
 rangeRepo size: 4
2025-10-27T15:09:18.437Z,1761577758.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:18.439Z,1761577758.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 181.894211 m,
      bearing: 68.977955 deg,
      approach rate: -0.797253 m/s,
      LOS rate: -0.030235 deg/s,
      cmd heading: 73.175580 deg,
      new cmd heading: 73.141035 deg.

2025-10-27T15:09:18.440Z,1761577758.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276552 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:18.827Z,1761577758.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268137,-0.947560,-0.173878],[0.961918,0.273276,-0.005867],[0.053076,-0.165683,0.984750]]
2025-10-27T15:09:18.879Z,1761577758.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:18.882Z,1761577758.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 181.559448 m,
      bearing: 68.967885 deg,
      approach rate: -0.754493 m/s,
      LOS rate: -0.022738 deg/s,
      cmd heading: 73.141033 deg,
      new cmd heading: 73.110767 deg.

2025-10-27T15:09:18.883Z,1761577758.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276024 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:19.213Z,1761577759.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267896,-0.947614,-0.173955],[0.961932,0.273203,-0.006859],[0.054025,-0.165496,0.984730]]
2025-10-27T15:09:19.239Z,1761577759.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:19.242Z,1761577759.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 181.289963 m,
      bearing: 68.959731 deg,
      approach rate: -0.748797 m/s,
      LOS rate: -0.022690 deg/s,
      cmd heading: 73.110768 deg,
      new cmd heading: 73.086270 deg.

2025-10-27T15:09:19.243Z,1761577759.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275596 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:19.618Z,1761577759.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268095,-0.947628,-0.173567],[0.961818,0.273574,-0.007993],[0.055057,-0.164797,0.984790]]
2025-10-27T15:09:19.635Z,1761577759.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:19.637Z,1761577759.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:19.649Z,1761577759.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 180.992111 m,
      bearing: 68.950712 deg,
      approach rate: -0.747603 m/s,
      LOS rate: -0.022675 deg/s,
      cmd heading: 73.086268 deg,
      new cmd heading: 73.059167 deg.

2025-10-27T15:09:19.650Z,1761577759.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275123 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:19.860Z,1761577759.860 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:19.860Z,1761577759.860 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:19.861Z,1761577759.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:20.046Z,1761577760.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268527,-0.947660,-0.172723],[0.961631,0.274188,-0.009338],[0.056208,-0.163588,0.984926]]
2025-10-27T15:09:20.112Z,1761577760.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003958
2025-10-27T15:09:20.113Z,1761577760.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:20.120Z,1761577760.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 180.670624 m,
      bearing: 68.944473 deg,
      approach rate: -0.684046 m/s,
      LOS rate: -0.013299 deg/s,
      cmd heading: 73.059166 deg,
      new cmd heading: 73.040415 deg.

2025-10-27T15:09:20.121Z,1761577760.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274796 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:20.364Z,1761577760.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255824
2025-10-27T15:09:20.426Z,1761577760.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269872,-0.946929,-0.174626],[0.961182,0.275742,-0.009803],[0.057434,-0.165202,0.984586]]
2025-10-27T15:09:20.451Z,1761577760.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:20.453Z,1761577760.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 180.421265 m,
      bearing: 68.939729 deg,
      approach rate: -0.726080 m/s,
      LOS rate: -0.013831 deg/s,
      cmd heading: 73.040417 deg,
      new cmd heading: 73.026167 deg.

2025-10-27T15:09:20.454Z,1761577760.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274547 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:20.616Z,1761577760.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507819
2025-10-27T15:09:20.857Z,1761577760.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271223,-0.946116,-0.176926],[0.960743,0.277263,-0.009878],[0.058400,-0.167301,0.984175]]
2025-10-27T15:09:20.868Z,1761577760.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759957
2025-10-27T15:09:20.938Z,1761577760.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:20.940Z,1761577760.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 180.077484 m,
      bearing: 68.936874 deg,
      approach rate: -0.705922 m/s,
      LOS rate: -0.005875 deg/s,
      cmd heading: 73.026170 deg,
      new cmd heading: 73.017586 deg.

2025-10-27T15:09:20.941Z,1761577760.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274397 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:21.120Z,1761577761.120 [DAT](INFO): DAT read: Rx Time:15:09:19.7269

2025-10-27T15:09:21.121Z,1761577761.121 [DAT](INFO): Rx dataTimestamp_ set to:1761577761.120598
2025-10-27T15:09:21.121Z,1761577761.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013375
2025-10-27T15:09:21.233Z,1761577761.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272783,-0.945412,-0.178287],[0.960254,0.278949,-0.009988],[0.059175,-0.168477,0.983928]]
2025-10-27T15:09:21.252Z,1761577761.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:21.254Z,1761577761.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 179.855515 m,
      bearing: 68.935138 deg,
      approach rate: -0.706478 m/s,
      LOS rate: -0.005531 deg/s,
      cmd heading: 73.017584 deg,
      new cmd heading: 73.012371 deg.

2025-10-27T15:09:21.268Z,1761577761.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274306 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:21.372Z,1761577761.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263776
2025-10-27T15:09:21.640Z,1761577761.640 [DAT](INFO): DAT read: 15:09:19.7269 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 427,-0.43, 0.272,-1.134, 0.647, 0.172, PHS= 0.201,-1.261, 0.431, RAW= 157.2,   8.0, CAL= 156.7,   8.3, ROT= 353.3,  -8.3

2025-10-27T15:09:21.642Z,1761577761.642 [DAT](INFO): got valid direction response:
 15:09:19.7269 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 427,-0.43, 0.272,-1.134, 0.647, 0.172, PHS= 0.201,-1.261, 0.431, RAW= 157.2,   8.0, CAL= 156.7,   8.3, ROT= 353.3,  -8.3

2025-10-27T15:09:21.642Z,1761577761.642 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T15:09:21.643Z,1761577761.643 [DAT](INFO): direction in FSK: [0.982768,-0.115449,0.144356]
2025-10-27T15:09:21.646Z,1761577761.646 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:21.646Z,1761577761.646 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:21.646Z,1761577761.646 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T15:09:21.733Z,1761577761.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:21.744Z,1761577761.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:21.748Z,1761577761.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 179.524536 m,
      bearing: 68.932542 deg,
      approach rate: -0.676946 m/s,
      LOS rate: -0.005319 deg/s,
      cmd heading: 73.012373 deg,
      new cmd heading: 73.004570 deg.

2025-10-27T15:09:21.750Z,1761577761.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274170 target range: 167.223526 and range: 168.00 m.
2025-10-27T15:09:21.878Z,1761577761.878 [DAT](INFO): DAT read: Bearing 221.9,  -4.6 (Local)

2025-10-27T15:09:21.878Z,1761577761.878 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.9,  -4.6 (Local)

2025-10-27T15:09:21.880Z,1761577761.880 [DAT](INFO): DAT read: Range 11 to 50 : 187.3 m  (Round-trip  249.8 ms) speed  0.9 m/s

2025-10-27T15:09:21.880Z,1761577761.880 [DAT](INFO): DAT read: user:970>

2025-10-27T15:09:21.881Z,1761577761.881 [DAT](INFO): DAT read: Tx time:15:09:20.8230

2025-10-27T15:09:21.881Z,1761577761.881 [DAT](INFO): Ping request sent.
2025-10-27T15:09:21.881Z,1761577761.881 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:21.882Z,1761577761.882 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-10-27T15:09:21.882Z,1761577761.882 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:21.882Z,1761577761.882 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:22.066Z,1761577762.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276455,-0.943654,-0.181907],[0.959108,0.282872,-0.009806],[0.060710,-0.171757,0.983267]]
2025-10-27T15:09:22.130Z,1761577762.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.300003 m,
      deltaT: 7.561312 s,
      deltaX: 19.300003 m,
      approachRate: 2.552468 m/s,
      rangeRepo size: 4

2025-10-27T15:09:22.147Z,1761577762.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:22.150Z,1761577762.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 179.240234 m,
      bearing: 68.932847 deg,
      approach rate: -0.730827 m/s,
      LOS rate: 0.000786 deg/s,
      cmd heading: 73.004573 deg,
      new cmd heading: 73.005489 deg.

2025-10-27T15:09:22.155Z,1761577762.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274186 target range: 167.223526 and range: 187.30 m.
2025-10-27T15:09:22.471Z,1761577762.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277943,-0.942881,-0.183638],[0.958626,0.284499,-0.009830],[0.061514,-0.173308,0.982945]]
2025-10-27T15:09:22.490Z,1761577762.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:22.493Z,1761577762.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 178.988373 m,
      bearing: 68.933240 deg,
      approach rate: -0.698872 m/s,
      LOS rate: 0.001091 deg/s,
      cmd heading: 73.005488 deg,
      new cmd heading: 73.006668 deg.

2025-10-27T15:09:22.500Z,1761577762.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274207 target range: 167.223526 and range: 187.30 m.
2025-10-27T15:09:22.887Z,1761577762.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279544,-0.942088,-0.185273],[0.958112,0.286226,-0.009799],[0.062262,-0.174773,0.982638]]
2025-10-27T15:09:22.933Z,1761577762.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:22.936Z,1761577762.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 178.677292 m,
      bearing: 68.932310 deg,
      approach rate: -0.702446 m/s,
      LOS rate: -0.002103 deg/s,
      cmd heading: 73.006669 deg,
      new cmd heading: 73.003875 deg.

2025-10-27T15:09:22.937Z,1761577762.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274158 target range: 167.223526 and range: 187.30 m.
2025-10-27T15:09:23.328Z,1761577763.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:23.331Z,1761577763.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 178.409531 m,
      bearing: 68.931507 deg,
      approach rate: -0.677595 m/s,
      LOS rate: -0.002035 deg/s,
      cmd heading: 73.003876 deg,
      new cmd heading: 73.001463 deg.

2025-10-27T15:09:23.332Z,1761577763.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274116 target range: 167.223526 and range: 187.30 m.
2025-10-27T15:09:23.439Z,1761577763.439 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:09:23.765Z,1761577763.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282691,-0.940640,-0.187837],[0.957110,0.289563,-0.009627],[0.063446,-0.177059,0.982153]]
2025-10-27T15:09:23.793Z,1761577763.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:23.800Z,1761577763.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:23.802Z,1761577763.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 178.080063 m,
      bearing: 68.930856 deg,
      approach rate: -0.698776 m/s,
      LOS rate: -0.001383 deg/s,
      cmd heading: 73.001465 deg,
      new cmd heading: 72.999509 deg.

2025-10-27T15:09:23.807Z,1761577763.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274082 target range: 167.223526 and range: 187.30 m.
2025-10-27T15:09:23.894Z,1761577763.894 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:23.894Z,1761577763.894 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:23.895Z,1761577763.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:24.144Z,1761577764.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262798
2025-10-27T15:09:24.183Z,1761577764.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284376,-0.940054,-0.188226],[0.956575,0.291323,-0.009736],[0.063987,-0.177284,0.982077]]
2025-10-27T15:09:24.219Z,1761577764.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:24.222Z,1761577764.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 177.773422 m,
      bearing: 68.933020 deg,
      approach rate: -0.731384 m/s,
      LOS rate: 0.005170 deg/s,
      cmd heading: 72.999511 deg,
      new cmd heading: 73.006014 deg.

2025-10-27T15:09:24.239Z,1761577764.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274195 target range: 167.223526 and range: 187.30 m.
2025-10-27T15:09:24.397Z,1761577764.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515044
2025-10-27T15:09:24.447Z,1761577764.447 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:09:24.648Z,1761577764.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766594
2025-10-27T15:09:24.707Z,1761577764.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:24.710Z,1761577764.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 177.429626 m,
      bearing: 68.935455 deg,
      approach rate: -0.704013 m/s,
      LOS rate: 0.004995 deg/s,
      cmd heading: 73.006014 deg,
      new cmd heading: 73.013332 deg.

2025-10-27T15:09:24.728Z,1761577764.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274323 target range: 167.223526 and range: 187.30 m.
2025-10-27T15:09:24.903Z,1761577764.903 [DAT](INFO): DAT read: Rx Time:15:09:23.4733

2025-10-27T15:09:24.905Z,1761577764.905 [DAT](INFO): Rx dataTimestamp_ set to:1761577764.903733
2025-10-27T15:09:24.906Z,1761577764.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024402
2025-10-27T15:09:25.082Z,1761577765.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287471,-0.939249,-0.187543],[0.955618,0.294444,-0.009830],[0.064454,-0.176393,0.982207]]
2025-10-27T15:09:25.140Z,1761577765.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.22 m.
2025-10-27T15:09:25.147Z,1761577765.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.223526 m,
      nav range: 177.134903 m,
      bearing: 68.935220 deg,
      approach rate: -0.680439 m/s,
      LOS rate: -0.000543 deg/s,
      cmd heading: 73.013329 deg,
      new cmd heading: 73.012623 deg.

2025-10-27T15:09:25.152Z,1761577765.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270515
2025-10-27T15:09:25.154Z,1761577765.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274311 target range: 167.223526 and range: 187.30 m.
2025-10-27T15:09:25.412Z,1761577765.412 [DAT](INFO): DAT read: 15:09:23.4732 LVL= 27584, 32753, 29682, 32755, AGC= 55, IDX=  64,-0.06,-2.324, 2.472,-1.955,-2.447, PHS= 0.225,-1.319, 0.448, RAW= 156.7,   7.8, CAL= 156.2,   8.1, ROT= 353.8,  -8.1

2025-10-27T15:09:25.413Z,1761577765.413 [DAT](INFO): got valid direction response:
 15:09:23.4732 LVL= 27584, 32753, 29682, 32755, AGC= 55, IDX=  64,-0.06,-2.324, 2.472,-1.955,-2.447, PHS= 0.225,-1.319, 0.448, RAW= 156.7,   7.8, CAL= 156.2,   8.1, ROT= 353.8,  -8.1

2025-10-27T15:09:25.414Z,1761577765.414 [DAT](INFO): DAT read: Bearing 220.8,  -3.5 (Local)

2025-10-27T15:09:25.414Z,1761577765.414 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.8,  -3.5 (Local)

2025-10-27T15:09:25.416Z,1761577765.416 [DAT](INFO): DAT read: Range 11 to 50 : 184.5 m  (Round-trip  246.1 ms) speed  0.4 m/s

2025-10-27T15:09:25.417Z,1761577765.417 [DAT](INFO): DAT read: user:971>

2025-10-27T15:09:25.417Z,1761577765.417 [DAT](INFO): DAT read: Tx time:15:09:24.5729

2025-10-27T15:09:25.418Z,1761577765.418 [DAT](INFO): Ping request sent.
2025-10-27T15:09:25.418Z,1761577765.418 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:25.418Z,1761577765.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:25.420Z,1761577765.420 [DAT](INFO): direction in FSK: [0.984233,-0.106922,0.140901]
2025-10-27T15:09:25.421Z,1761577765.421 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:25.421Z,1761577765.421 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:25.424Z,1761577765.424 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:25.424Z,1761577765.424 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:25.601Z,1761577765.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 184.500000 m,
      deltaT: 3.527450 s,
      deltaX: -2.800003 m,
      approachRate: -0.793775 m/s,
      rangeRepo size: 4

2025-10-27T15:09:25.607Z,1761577765.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 183.647156 m,
      bearing: 68.533132 deg,
      lat: 36.779327 deg,
      lon: -121.859301 deg,
      deltaT: 11.088762 s,
      deltaX: 16.423630 m,
      approachRate: 1.481106 m/s,
      posRepo size: 4

2025-10-27T15:09:25.608Z,1761577765.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:25.615Z,1761577765.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 177.535080 m,
      bearing: 68.331414 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000543 deg/s,
      cmd heading: 73.012625 deg,
      new cmd heading: 73.011876 deg.

2025-10-27T15:09:25.616Z,1761577765.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274298 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:26.025Z,1761577766.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:26.027Z,1761577766.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:26.030Z,1761577766.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 177.207260 m,
      bearing: 68.328969 deg,
      approach rate: -0.767645 m/s,
      LOS rate: -0.005736 deg/s,
      cmd heading: 73.011874 deg,
      new cmd heading: 73.004526 deg.

2025-10-27T15:09:26.031Z,1761577766.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274169 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:26.160Z,1761577766.160 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:26.160Z,1761577766.160 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:26.161Z,1761577766.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:26.400Z,1761577766.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:26.403Z,1761577766.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 176.932205 m,
      bearing: 68.326911 deg,
      approach rate: -0.738638 m/s,
      LOS rate: -0.005536 deg/s,
      cmd heading: 73.004525 deg,
      new cmd heading: 72.998340 deg.

2025-10-27T15:09:26.404Z,1761577766.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274061 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:26.412Z,1761577766.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994288
2025-10-27T15:09:26.664Z,1761577766.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246222
2025-10-27T15:09:26.768Z,1761577766.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293200,-0.938170,-0.184038],[0.953915,0.299934,-0.009242],[0.063869,-0.172847,0.982876]]
2025-10-27T15:09:26.786Z,1761577766.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:26.789Z,1761577766.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 176.647400 m,
      bearing: 68.325343 deg,
      approach rate: -0.736816 m/s,
      LOS rate: -0.004065 deg/s,
      cmd heading: 72.998337 deg,
      new cmd heading: 72.993623 deg.

2025-10-27T15:09:26.790Z,1761577766.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273979 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:26.918Z,1761577766.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500380
2025-10-27T15:09:27.168Z,1761577767.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750174
2025-10-27T15:09:27.173Z,1761577767.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293364,-0.938655,-0.181285],[0.953891,0.299997,-0.009691],[0.063482,-0.170083,0.983383]]
2025-10-27T15:09:27.210Z,1761577767.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:27.229Z,1761577767.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 176.328476 m,
      bearing: 68.320109 deg,
      approach rate: -0.753069 m/s,
      LOS rate: -0.012380 deg/s,
      cmd heading: 72.993624 deg,
      new cmd heading: 72.977895 deg.

2025-10-27T15:09:27.230Z,1761577767.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273705 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:27.420Z,1761577767.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002228
2025-10-27T15:09:27.574Z,1761577767.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293944,-0.938506,-0.181116],[0.953709,0.300576,-0.009697],[0.063540,-0.169882,0.983414]]
2025-10-27T15:09:27.595Z,1761577767.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:27.598Z,1761577767.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 176.038208 m,
      bearing: 68.315387 deg,
      approach rate: -0.753649 m/s,
      LOS rate: -0.012279 deg/s,
      cmd heading: 72.977894 deg,
      new cmd heading: 72.963706 deg.

2025-10-27T15:09:27.599Z,1761577767.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273457 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:27.673Z,1761577767.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255080
2025-10-27T15:09:27.926Z,1761577767.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508296
2025-10-27T15:09:27.981Z,1761577767.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294657,-0.938361,-0.180710],[0.953509,0.301218,-0.009371],[0.063227,-0.169547,0.983492]]
2025-10-27T15:09:28.040Z,1761577768.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:28.042Z,1761577768.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:28.073Z,1761577768.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 175.700989 m,
      bearing: 68.308205 deg,
      approach rate: -0.754564 m/s,
      LOS rate: -0.016102 deg/s,
      cmd heading: 72.963708 deg,
      new cmd heading: 72.942119 deg.

2025-10-27T15:09:28.074Z,1761577768.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273080 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:28.177Z,1761577768.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759715
2025-10-27T15:09:28.392Z,1761577768.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294407,-0.938699,-0.179357],[0.953591,0.300946,-0.009780],[0.063157,-0.168154,0.983736]]
2025-10-27T15:09:28.426Z,1761577768.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:28.428Z,1761577768.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010373
2025-10-27T15:09:28.433Z,1761577768.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 175.422272 m,
      bearing: 68.302228 deg,
      approach rate: -0.725342 m/s,
      LOS rate: -0.015580 deg/s,
      cmd heading: 72.942117 deg,
      new cmd heading: 72.924157 deg.

2025-10-27T15:09:28.434Z,1761577768.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.272767 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:28.680Z,1761577768.680 [DAT](INFO): DAT read: Rx Time:15:09:27.1856

2025-10-27T15:09:28.680Z,1761577768.680 [DAT](INFO): Rx dataTimestamp_ set to:1761577768.680170
2025-10-27T15:09:28.681Z,1761577768.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263340
2025-10-27T15:09:28.794Z,1761577768.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293719,-0.939589,-0.175789],[0.953832,0.300154,-0.010594],[0.062718,-0.164561,0.984371]]
2025-10-27T15:09:28.819Z,1761577768.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:28.822Z,1761577768.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 175.113556 m,
      bearing: 68.295521 deg,
      approach rate: -0.785924 m/s,
      LOS rate: -0.017103 deg/s,
      cmd heading: 72.924154 deg,
      new cmd heading: 72.904000 deg.

2025-10-27T15:09:28.823Z,1761577768.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.272415 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:28.936Z,1761577768.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518012
2025-10-27T15:09:29.190Z,1761577769.190 [DAT](INFO): DAT read: 15:09:27.1856 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX=  53,-0.17,-2.341, 2.507,-1.960,-2.438, PHS= 0.199,-1.293, 0.434, RAW= 157.2,   8.2, CAL= 156.8,   8.5, ROT= 353.2,  -8.5

2025-10-27T15:09:29.191Z,1761577769.191 [DAT](INFO): got valid direction response:
 15:09:27.1856 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX=  53,-0.17,-2.341, 2.507,-1.960,-2.438, PHS= 0.199,-1.293, 0.434, RAW= 157.2,   8.2, CAL= 156.8,   8.5, ROT= 353.2,  -8.5

2025-10-27T15:09:29.192Z,1761577769.192 [DAT](INFO): DAT read: Bearing 221.0,  -4.1 (Local)

2025-10-27T15:09:29.193Z,1761577769.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.0,  -4.1 (Local)

2025-10-27T15:09:29.194Z,1761577769.194 [DAT](INFO): DAT read: Range 11 to 50 : 156.3 m  (Round-trip  208.5 ms) speed  0.5 m/s

2025-10-27T15:09:29.208Z,1761577769.208 [DAT](INFO): DAT read: user:972>

2025-10-27T15:09:29.210Z,1761577769.210 [DAT](INFO): DAT read: Tx time:15:09:28.2729

2025-10-27T15:09:29.210Z,1761577769.210 [DAT](INFO): Ping request sent.
2025-10-27T15:09:29.210Z,1761577769.210 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:29.223Z,1761577769.223 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:29.224Z,1761577769.224 [DAT](INFO): direction in FSK: [0.982059,-0.117103,0.147809]
2025-10-27T15:09:29.225Z,1761577769.225 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:29.225Z,1761577769.225 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:29.252Z,1761577769.252 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:29.253Z,1761577769.253 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:29.275Z,1761577769.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293112,-0.940372,-0.172589],[0.954046,0.299448,-0.011305],[0.062312,-0.161344,0.984929]]
2025-10-27T15:09:29.362Z,1761577769.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 156.300003 m,
 deltaT: 3.779265 s,
 deltaX: -28.199997 m,
 approachRate: -7.461768 m/s,
 rangeRepo size: 4
2025-10-27T15:09:29.362Z,1761577769.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:29.386Z,1761577769.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 174.700180 m,
      bearing: 68.285218 deg,
      approach rate: -0.762609 m/s,
      LOS rate: -0.019054 deg/s,
      cmd heading: 72.903998 deg,
      new cmd heading: 72.873013 deg.

2025-10-27T15:09:29.391Z,1761577769.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271874 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:29.721Z,1761577769.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292741,-0.940522,-0.172401],[0.954147,0.299112,-0.011622],[0.062498,-0.161094,0.984958]]
2025-10-27T15:09:29.787Z,1761577769.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:29.797Z,1761577769.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 174.371582 m,
      bearing: 68.276951 deg,
      approach rate: -0.809558 m/s,
      LOS rate: -0.020405 deg/s,
      cmd heading: 72.873016 deg,
      new cmd heading: 72.848169 deg.

2025-10-27T15:09:29.798Z,1761577769.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271440 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:30.295Z,1761577770.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:30.297Z,1761577770.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:30.300Z,1761577770.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 173.941010 m,
      bearing: 68.265094 deg,
      approach rate: -0.811571 m/s,
      LOS rate: -0.022404 deg/s,
      cmd heading: 72.848168 deg,
      new cmd heading: 72.812509 deg.

2025-10-27T15:09:30.301Z,1761577770.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.270818 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:30.444Z,1761577770.444 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:30.444Z,1761577770.444 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:30.444Z,1761577770.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:30.642Z,1761577770.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292816,-0.940467,-0.172571],[0.954259,0.298834,-0.009393],[0.060404,-0.161927,0.984952]]
2025-10-27T15:09:30.672Z,1761577770.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:30.679Z,1761577770.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 173.648666 m,
      bearing: 68.257012 deg,
      approach rate: -0.779971 m/s,
      LOS rate: -0.021598 deg/s,
      cmd heading: 72.812508 deg,
      new cmd heading: 72.788222 deg.

2025-10-27T15:09:30.680Z,1761577770.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.270394 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:30.696Z,1761577770.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486066
2025-10-27T15:09:30.954Z,1761577770.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742938
2025-10-27T15:09:31.045Z,1761577771.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292943,-0.940455,-0.172419],[0.954308,0.298718,-0.007962],[0.058993,-0.162208,0.984992]]
2025-10-27T15:09:31.097Z,1761577771.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:31.122Z,1761577771.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 173.304733 m,
      bearing: 68.248024 deg,
      approach rate: -0.809104 m/s,
      LOS rate: -0.021186 deg/s,
      cmd heading: 72.788219 deg,
      new cmd heading: 72.761202 deg.

2025-10-27T15:09:31.128Z,1761577771.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.269922 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:31.200Z,1761577771.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990061
2025-10-27T15:09:31.450Z,1761577771.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292789,-0.940765,-0.170984],[0.954450,0.298292,-0.006845],[0.057443,-0.161191,0.985250]]
2025-10-27T15:09:31.452Z,1761577771.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241864
2025-10-27T15:09:31.501Z,1761577771.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:31.510Z,1761577771.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 173.011627 m,
      bearing: 68.240320 deg,
      approach rate: -0.727157 m/s,
      LOS rate: -0.019146 deg/s,
      cmd heading: 72.761199 deg,
      new cmd heading: 72.738047 deg.

2025-10-27T15:09:31.515Z,1761577771.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.269518 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:31.704Z,1761577771.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493863
2025-10-27T15:09:31.854Z,1761577771.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292903,-0.940632,-0.171520],[0.954517,0.298118,-0.004890],[0.055733,-0.162286,0.985169]]
2025-10-27T15:09:31.872Z,1761577771.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:31.874Z,1761577771.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 172.695099 m,
      bearing: 68.231978 deg,
      approach rate: -0.852905 m/s,
      LOS rate: -0.022520 deg/s,
      cmd heading: 72.738045 deg,
      new cmd heading: 72.712973 deg.

2025-10-27T15:09:31.875Z,1761577771.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.269081 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:31.958Z,1761577771.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747411
2025-10-27T15:09:32.208Z,1761577772.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997820
2025-10-27T15:09:32.308Z,1761577772.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:32.310Z,1761577772.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:32.313Z,1761577772.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 172.342438 m,
      bearing: 68.224244 deg,
      approach rate: -0.803467 m/s,
      LOS rate: -0.017656 deg/s,
      cmd heading: 72.712971 deg,
      new cmd heading: 72.689723 deg.

2025-10-27T15:09:32.314Z,1761577772.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268675 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:32.460Z,1761577772.460 [DAT](INFO): DAT read: Rx Time:15:09:30.8819

2025-10-27T15:09:32.460Z,1761577772.460 [DAT](INFO): Rx dataTimestamp_ set to:1761577772.460045
2025-10-27T15:09:32.461Z,1761577772.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250738
2025-10-27T15:09:32.662Z,1761577772.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293554,-0.940591,-0.170627],[0.954560,0.298020,-0.000585],[0.051400,-0.162702,0.985336]]
2025-10-27T15:09:32.696Z,1761577772.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.65 m.
2025-10-27T15:09:32.705Z,1761577772.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.647156 m,
      nav range: 172.043533 m,
      bearing: 68.217725 deg,
      approach rate: -0.774956 m/s,
      LOS rate: -0.016931 deg/s,
      cmd heading: 72.689721 deg,
      new cmd heading: 72.670130 deg.

2025-10-27T15:09:32.706Z,1761577772.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268333 target range: 183.647156 and range: 184.50 m.
2025-10-27T15:09:32.712Z,1761577772.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501890
2025-10-27T15:09:32.985Z,1761577772.985 [DAT](INFO): DAT read: 15:09:30.8819 LVL= 32144, 32753, 31586, 32755, AGC= 58, IDX= 398, 0.02, 2.033, 0.493, 2.447, 1.862, PHS= 0.273,-1.324, 0.541, RAW= 157.6,   5.9, CAL= 156.9,   5.7, ROT= 353.1,  -5.7

2025-10-27T15:09:32.995Z,1761577772.995 [DAT](INFO): got valid direction response:
 15:09:30.8819 LVL= 32144, 32753, 31586, 32755, AGC= 58, IDX= 398, 0.02, 2.033, 0.493, 2.447, 1.862, PHS= 0.273,-1.324, 0.541, RAW= 157.6,   5.9, CAL= 156.9,   5.7, ROT= 353.1,  -5.7

2025-10-27T15:09:33.018Z,1761577773.018 [DAT](INFO): DAT read: Bearing 217.8,  -4.4 (Local)

2025-10-27T15:09:33.033Z,1761577773.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.8,  -4.4 (Local)

2025-10-27T15:09:33.045Z,1761577773.045 [DAT](INFO): DAT read: Range 11 to 50 : 153.6 m  (Round-trip  204.8 ms) speed  0.9 m/s

2025-10-27T15:09:33.046Z,1761577773.046 [DAT](INFO): DAT read: user:973>

2025-10-27T15:09:33.052Z,1761577773.052 [DAT](INFO): DAT read: Tx time:15:09:31.9729

2025-10-27T15:09:33.052Z,1761577773.052 [DAT](INFO): Ping request sent.
2025-10-27T15:09:33.052Z,1761577773.052 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:33.052Z,1761577773.052 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:33.053Z,1761577773.053 [DAT](INFO): direction in FSK: [0.987849,-0.119543,0.099320]
2025-10-27T15:09:33.054Z,1761577773.054 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:33.054Z,1761577773.054 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:33.061Z,1761577773.061 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:33.061Z,1761577773.061 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:33.104Z,1761577773.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294084,-0.940546,-0.169966],[0.954522,0.298134,0.001768],[0.049010,-0.162756,0.985448]]
2025-10-27T15:09:33.222Z,1761577773.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.600006 m,
      deltaT: 7.560417 s,
      deltaX: -30.899994 m,
      approachRate: -4.087075 m/s,
      rangeRepo size: 4

2025-10-27T15:09:33.228Z,1761577773.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.889862 m,
      bearing: 66.953431 deg,
      lat: 36.779285 deg,
      lon: -121.859502 deg,
      deltaT: 7.560417 s,
      deltaX: -30.757294 m,
      approachRate: -4.068201 m/s,
      posRepo size: 4

2025-10-27T15:09:33.229Z,1761577773.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.89 m.
2025-10-27T15:09:33.236Z,1761577773.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.889862 m,
      nav range: 153.310059 m,
      bearing: 67.355390 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016931 deg/s,
      cmd heading: 72.670132 deg,
      new cmd heading: 72.643462 deg.

2025-10-27T15:09:33.237Z,1761577773.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267868 target range: 152.889862 and range: 153.60 m.
2025-10-27T15:09:33.541Z,1761577773.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294095,-0.940737,-0.168885],[0.954739,0.297383,0.006071],[0.044513,-0.163027,0.985617]]
2025-10-27T15:09:33.578Z,1761577773.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.89 m.
2025-10-27T15:09:33.581Z,1761577773.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.889862 m,
      nav range: 153.035370 m,
      bearing: 67.349307 deg,
      approach rate: -0.769098 m/s,
      LOS rate: -0.017061 deg/s,
      cmd heading: 72.643460 deg,
      new cmd heading: 72.625180 deg.

2025-10-27T15:09:33.582Z,1761577773.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267549 target range: 152.889862 and range: 153.60 m.
2025-10-27T15:09:33.944Z,1761577773.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293996,-0.941095,-0.167052],[0.954867,0.296934,0.007682],[0.042374,-0.161771,0.985918]]
2025-10-27T15:09:33.962Z,1761577773.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.89 m.
2025-10-27T15:09:33.965Z,1761577773.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.889862 m,
      nav range: 152.723068 m,
      bearing: 67.342351 deg,
      approach rate: -0.814206 m/s,
      LOS rate: -0.018171 deg/s,
      cmd heading: 72.625183 deg,
      new cmd heading: 72.604273 deg.

2025-10-27T15:09:33.966Z,1761577773.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267184 target range: 152.889862 and range: 153.60 m.
2025-10-27T15:09:34.349Z,1761577774.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294695,-0.941157,-0.165465],[0.954755,0.297231,0.009800],[0.039958,-0.160867,0.986167]]
2025-10-27T15:09:34.392Z,1761577774.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:34.394Z,1761577774.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.89 m.
2025-10-27T15:09:34.397Z,1761577774.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.889862 m,
      nav range: 152.378052 m,
      bearing: 67.337385 deg,
      approach rate: -0.797885 m/s,
      LOS rate: -0.011511 deg/s,
      cmd heading: 72.604276 deg,
      new cmd heading: 72.589343 deg.

2025-10-27T15:09:34.398Z,1761577774.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266923 target range: 152.889862 and range: 153.60 m.
2025-10-27T15:09:34.478Z,1761577774.478 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:34.478Z,1761577774.478 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:34.479Z,1761577774.479 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:34.730Z,1761577774.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678280
2025-10-27T15:09:34.756Z,1761577774.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295039,-0.941336,-0.163826],[0.954735,0.297234,0.011523],[0.037847,-0.159810,0.986422]]
2025-10-27T15:09:34.790Z,1761577774.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.89 m.
2025-10-27T15:09:34.793Z,1761577774.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.889862 m,
      nav range: 152.073273 m,
      bearing: 67.333019 deg,
      approach rate: -0.770791 m/s,
      LOS rate: -0.011065 deg/s,
      cmd heading: 72.589345 deg,
      new cmd heading: 72.576219 deg.

2025-10-27T15:09:34.794Z,1761577774.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266694 target range: 152.889862 and range: 153.60 m.
2025-10-27T15:09:34.981Z,1761577774.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.928981
2025-10-27T15:09:35.154Z,1761577775.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295491,-0.941363,-0.162851],[0.954683,0.297310,0.013650],[0.035567,-0.159505,0.986556]]
2025-10-27T15:09:35.211Z,1761577775.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.89 m.
2025-10-27T15:09:35.218Z,1761577775.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.889862 m,
      nav range: 151.758530 m,
      bearing: 67.330572 deg,
      approach rate: -0.748159 m/s,
      LOS rate: -0.005828 deg/s,
      cmd heading: 72.576217 deg,
      new cmd heading: 72.568862 deg.

2025-10-27T15:09:35.223Z,1761577775.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266566 target range: 152.889862 and range: 153.60 m.
2025-10-27T15:09:35.232Z,1761577775.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180123
2025-10-27T15:09:35.485Z,1761577775.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.433344
2025-10-27T15:09:35.561Z,1761577775.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296250,-0.941395,-0.161284],[0.954531,0.297700,0.015665],[0.033267,-0.158591,0.986784]]
2025-10-27T15:09:35.579Z,1761577775.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.89 m.
2025-10-27T15:09:35.581Z,1761577775.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.889862 m,
      nav range: 151.464554 m,
      bearing: 67.328364 deg,
      approach rate: -0.798715 m/s,
      LOS rate: -0.006010 deg/s,
      cmd heading: 72.568861 deg,
      new cmd heading: 72.562225 deg.

2025-10-27T15:09:35.582Z,1761577775.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266450 target range: 152.889862 and range: 153.60 m.
2025-10-27T15:09:35.736Z,1761577775.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684324
2025-10-27T15:09:35.962Z,1761577775.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297169,-0.941130,-0.161137],[0.954320,0.298238,0.018086],[0.031036,-0.159151,0.986766]]
2025-10-27T15:09:35.989Z,1761577775.989 [DAT](INFO): DAT read: Rx Time:15:09:34.5785

2025-10-27T15:09:35.990Z,1761577775.990 [DAT](INFO): Rx dataTimestamp_ set to:1761577775.989401
2025-10-27T15:09:35.991Z,1761577775.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939133
2025-10-27T15:09:36.014Z,1761577776.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.89 m.
2025-10-27T15:09:36.036Z,1761577776.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.889862 m,
      nav range: 151.156784 m,
      bearing: 67.326151 deg,
      approach rate: -0.706038 m/s,
      LOS rate: -0.005087 deg/s,
      cmd heading: 72.562222 deg,
      new cmd heading: 72.555570 deg.

2025-10-27T15:09:36.044Z,1761577776.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266334 target range: 152.889862 and range: 153.60 m.
2025-10-27T15:09:36.240Z,1761577776.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.187814
2025-10-27T15:09:36.369Z,1761577776.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297810,-0.940801,-0.161871],[0.954177,0.298553,0.020290],[0.029239,-0.160496,0.986603]]
2025-10-27T15:09:36.408Z,1761577776.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:36.410Z,1761577776.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.89 m.
2025-10-27T15:09:36.413Z,1761577776.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.889862 m,
      nav range: 150.839569 m,
      bearing: 67.325881 deg,
      approach rate: -0.801076 m/s,
      LOS rate: -0.000685 deg/s,
      cmd heading: 72.555570 deg,
      new cmd heading: 72.554756 deg.

2025-10-27T15:09:36.414Z,1761577776.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266319 target range: 152.889862 and range: 153.60 m.
2025-10-27T15:09:36.502Z,1761577776.502 [DAT](INFO): DAT read: 15:09:34.5785 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 411, 0.08, 1.289,-0.275, 1.655, 1.178, PHS= 0.213,-1.408, 0.433, RAW= 156.3,   8.8, CAL= 155.9,   9.3, ROT= 354.1,  -9.3

2025-10-27T15:09:36.504Z,1761577776.504 [DAT](INFO): got valid direction response:
 15:09:34.5785 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 411, 0.08, 1.289,-0.275, 1.655, 1.178, PHS= 0.213,-1.408, 0.433, RAW= 156.3,   8.8, CAL= 155.9,   9.3, ROT= 354.1,  -9.3

2025-10-27T15:09:36.504Z,1761577776.504 [DAT](INFO): DAT read: Bearing 220.7,  -5.1 (Local)

2025-10-27T15:09:36.505Z,1761577776.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.7,  -5.1 (Local)

2025-10-27T15:09:36.506Z,1761577776.506 [DAT](INFO): DAT read: Range 11 to 50 : 151.0 m  (Round-trip  201.4 ms) speed  0.4 m/s

2025-10-27T15:09:36.507Z,1761577776.507 [DAT](INFO): DAT read: user:974>

2025-10-27T15:09:36.508Z,1761577776.508 [DAT](INFO): DAT read: Tx time:15:09:35.6729

2025-10-27T15:09:36.508Z,1761577776.508 [DAT](INFO): Ping request sent.
2025-10-27T15:09:36.508Z,1761577776.508 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:36.509Z,1761577776.509 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:36.510Z,1761577776.510 [DAT](INFO): direction in FSK: [0.981628,-0.101441,0.161604]
2025-10-27T15:09:36.510Z,1761577776.510 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:36.510Z,1761577776.510 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:36.514Z,1761577776.514 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:36.514Z,1761577776.514 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:36.770Z,1761577776.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298740,-0.940630,-0.161149],[0.953943,0.299167,0.022183],[0.027344,-0.160354,0.986681]]
2025-10-27T15:09:36.797Z,1761577776.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.000000 m,
      deltaT: 3.528479 s,
      deltaX: -2.600006 m,
      approachRate: -0.736863 m/s,
      rangeRepo size: 4

2025-10-27T15:09:36.815Z,1761577776.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.301819 m,
      bearing: 68.265617 deg,
      lat: 36.779285 deg,
      lon: -121.859526 deg,
      deltaT: 3.528479 s,
      deltaX: -2.588043 m,
      approachRate: -0.733473 m/s,
      posRepo size: 4

2025-10-27T15:09:36.816Z,1761577776.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m.
2025-10-27T15:09:36.818Z,1761577776.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.301819 m,
      nav range: 148.530060 m,
      bearing: 66.999107 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000685 deg/s,
      cmd heading: 72.554757 deg,
      new cmd heading: 72.553965 deg.

2025-10-27T15:09:36.824Z,1761577776.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266306 target range: 150.301819 and range: 151.00 m.
2025-10-27T15:09:37.230Z,1761577777.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m.
2025-10-27T15:09:37.233Z,1761577777.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.301819 m,
      nav range: 148.211365 m,
      bearing: 66.997983 deg,
      approach rate: -0.733979 m/s,
      LOS rate: -0.002593 deg/s,
      cmd heading: 72.553964 deg,
      new cmd heading: 72.550587 deg.

2025-10-27T15:09:37.234Z,1761577777.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266247 target range: 150.301819 and range: 151.00 m.
2025-10-27T15:09:37.578Z,1761577777.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301068,-0.940451,-0.157826],[0.953316,0.300885,0.025634],[0.023380,-0.158176,0.987134]]
2025-10-27T15:09:37.596Z,1761577777.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m.
2025-10-27T15:09:37.599Z,1761577777.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.301819 m,
      nav range: 147.945175 m,
      bearing: 66.997293 deg,
      approach rate: -0.727751 m/s,
      LOS rate: -0.001892 deg/s,
      cmd heading: 72.550590 deg,
      new cmd heading: 72.548515 deg.

2025-10-27T15:09:37.600Z,1761577777.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266210 target range: 150.301819 and range: 151.00 m.
2025-10-27T15:09:37.996Z,1761577777.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302061,-0.940050,-0.158320],[0.953048,0.301522,0.027996],[0.021419,-0.159343,0.986991]]
2025-10-27T15:09:38.016Z,1761577778.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m.
2025-10-27T15:09:38.018Z,1761577778.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.301819 m,
      nav range: 147.639832 m,
      bearing: 66.996615 deg,
      approach rate: -0.727488 m/s,
      LOS rate: -0.001617 deg/s,
      cmd heading: 72.548514 deg,
      new cmd heading: 72.546478 deg.

2025-10-27T15:09:38.020Z,1761577778.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266175 target range: 150.301819 and range: 151.00 m.
2025-10-27T15:09:38.387Z,1761577778.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303278,-0.939678,-0.158201],[0.952692,0.302492,0.029617],[0.020024,-0.159699,0.986963]]
2025-10-27T15:09:38.422Z,1761577778.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:38.425Z,1761577778.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m.
2025-10-27T15:09:38.427Z,1761577778.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.301819 m,
      nav range: 147.346863 m,
      bearing: 66.995040 deg,
      approach rate: -0.716701 m/s,
      LOS rate: -0.003861 deg/s,
      cmd heading: 72.546479 deg,
      new cmd heading: 72.541743 deg.

2025-10-27T15:09:38.428Z,1761577778.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266092 target range: 150.301819 and range: 151.00 m.
2025-10-27T15:09:38.508Z,1761577778.508 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:38.509Z,1761577778.509 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:38.509Z,1761577778.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:38.760Z,1761577778.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251523
2025-10-27T15:09:38.789Z,1761577778.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304703,-0.939155,-0.158570],[0.952263,0.303671,0.031303],[0.018754,-0.160538,0.986851]]
2025-10-27T15:09:38.821Z,1761577778.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m.
2025-10-27T15:09:38.824Z,1761577778.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.301819 m,
      nav range: 147.061676 m,
      bearing: 66.993663 deg,
      approach rate: -0.718670 m/s,
      LOS rate: -0.003476 deg/s,
      cmd heading: 72.541745 deg,
      new cmd heading: 72.537607 deg.

2025-10-27T15:09:38.825Z,1761577778.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266020 target range: 150.301819 and range: 151.00 m.
2025-10-27T15:09:39.013Z,1761577779.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504146
2025-10-27T15:09:39.247Z,1761577779.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m.
2025-10-27T15:09:39.249Z,1761577779.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.301819 m,
      nav range: 146.753693 m,
      bearing: 66.991920 deg,
      approach rate: -0.724524 m/s,
      LOS rate: -0.004109 deg/s,
      cmd heading: 72.537606 deg,
      new cmd heading: 72.532366 deg.

2025-10-27T15:09:39.250Z,1761577779.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265929 target range: 150.301819 and range: 151.00 m.
2025-10-27T15:09:39.264Z,1761577779.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755674
2025-10-27T15:09:39.516Z,1761577779.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007479
2025-10-27T15:09:39.598Z,1761577779.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308314,-0.937898,-0.159026],[0.951152,0.306720,0.035097],[0.015859,-0.162079,0.986650]]
2025-10-27T15:09:39.636Z,1761577779.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m.
2025-10-27T15:09:39.639Z,1761577779.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.301819 m,
      nav range: 146.471237 m,
      bearing: 66.990726 deg,
      approach rate: -0.724611 m/s,
      LOS rate: -0.003070 deg/s,
      cmd heading: 72.532367 deg,
      new cmd heading: 72.528778 deg.

2025-10-27T15:09:39.640Z,1761577779.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265866 target range: 150.301819 and range: 151.00 m.
2025-10-27T15:09:39.769Z,1761577779.769 [DAT](INFO): DAT read: Rx Time:15:09:38.2747

2025-10-27T15:09:39.769Z,1761577779.769 [DAT](INFO): Rx dataTimestamp_ set to:1761577779.768720
2025-10-27T15:09:39.770Z,1761577779.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261150
2025-10-27T15:09:40.005Z,1761577780.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309823,-0.937432,-0.158841],[0.950685,0.307968,0.036793],[0.014427,-0.162407,0.986618]]
2025-10-27T15:09:40.020Z,1761577780.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511566
2025-10-27T15:09:40.026Z,1761577780.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m.
2025-10-27T15:09:40.045Z,1761577780.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.301819 m,
      nav range: 146.190063 m,
      bearing: 66.989705 deg,
      approach rate: -0.722012 m/s,
      LOS rate: -0.002627 deg/s,
      cmd heading: 72.528775 deg,
      new cmd heading: 72.525706 deg.

2025-10-27T15:09:40.046Z,1761577780.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265812 target range: 150.301819 and range: 151.00 m.
2025-10-27T15:09:40.285Z,1761577780.285 [DAT](INFO): DAT read: 15:09:38.2747 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 404, 0.36,-2.514, 2.158,-2.123,-2.640, PHS= 0.229,-1.440, 0.474, RAW= 156.7,   8.2, CAL= 156.3,   8.6, ROT= 353.7,  -8.6

2025-10-27T15:09:40.287Z,1761577780.287 [DAT](INFO): got valid direction response:
 15:09:38.2747 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 404, 0.36,-2.514, 2.158,-2.123,-2.640, PHS= 0.229,-1.440, 0.474, RAW= 156.7,   8.2, CAL= 156.3,   8.6, ROT= 353.7,  -8.6

2025-10-27T15:09:40.288Z,1761577780.288 [DAT](INFO): DAT read: Bearing 219.8,  -6.2 (Local)

2025-10-27T15:09:40.289Z,1761577780.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.8,  -6.2 (Local)

2025-10-27T15:09:40.291Z,1761577780.291 [DAT](INFO): DAT read: Range 11 to 50 : 148.2 m  (Round-trip  197.6 ms) speed  0.4 m/s

2025-10-27T15:09:40.316Z,1761577780.316 [DAT](INFO): DAT read: user:975>

2025-10-27T15:09:40.317Z,1761577780.317 [DAT](INFO): DAT read: Tx time:15:09:39.3729

2025-10-27T15:09:40.317Z,1761577780.317 [DAT](INFO): Ping request sent.
2025-10-27T15:09:40.317Z,1761577780.317 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:40.318Z,1761577780.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:40.319Z,1761577780.319 [DAT](INFO): direction in FSK: [0.982785,-0.108500,0.149535]
2025-10-27T15:09:40.324Z,1761577780.324 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:40.324Z,1761577780.324 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:40.341Z,1761577780.341 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:40.341Z,1761577780.341 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:40.527Z,1761577780.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.199997 m,
      deltaT: 3.780680 s,
      deltaX: -2.800003 m,
      approachRate: -0.740608 m/s,
      rangeRepo size: 4

2025-10-27T15:09:40.529Z,1761577780.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.514221 m,
      bearing: 67.123196 deg,
      lat: 36.779280 deg,
      lon: -121.859532 deg,
      deltaT: 3.780680 s,
      deltaX: -2.787598 m,
      approachRate: -0.737327 m/s,
      posRepo size: 4

2025-10-27T15:09:40.530Z,1761577780.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.51 m.
2025-10-27T15:09:40.537Z,1761577780.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.514221 m,
      nav range: 145.122345 m,
      bearing: 67.122679 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002627 deg/s,
      cmd heading: 72.525708 deg,
      new cmd heading: 72.521794 deg.

2025-10-27T15:09:40.538Z,1761577780.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265744 target range: 147.514221 and range: 148.20 m.
2025-10-27T15:09:40.845Z,1761577780.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311849,-0.937125,-0.156674],[0.950069,0.309453,0.040092],[0.010912,-0.161353,0.986836]]
2025-10-27T15:09:40.861Z,1761577780.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:40.864Z,1761577780.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.51 m.
2025-10-27T15:09:40.866Z,1761577780.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.514221 m,
      nav range: 144.868042 m,
      bearing: 67.120292 deg,
      approach rate: -0.745381 m/s,
      LOS rate: -0.007007 deg/s,
      cmd heading: 72.521794 deg,
      new cmd heading: 72.514622 deg.

2025-10-27T15:09:40.869Z,1761577780.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265619 target range: 147.514221 and range: 148.20 m.
2025-10-27T15:09:41.028Z,1761577781.028 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:41.028Z,1761577781.028 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:41.028Z,1761577781.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:41.280Z,1761577781.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.962665
2025-10-27T15:09:41.320Z,1761577781.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.51 m.
2025-10-27T15:09:41.322Z,1761577781.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.514221 m,
      nav range: 144.548355 m,
      bearing: 67.114472 deg,
      approach rate: -0.700651 m/s,
      LOS rate: -0.012784 deg/s,
      cmd heading: 72.514623 deg,
      new cmd heading: 72.497124 deg.

2025-10-27T15:09:41.328Z,1761577781.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265314 target range: 147.514221 and range: 148.20 m.
2025-10-27T15:09:41.537Z,1761577781.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219942
2025-10-27T15:09:41.651Z,1761577781.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313485,-0.936967,-0.154337],[0.949564,0.310578,0.043237],[0.007422,-0.160107,0.987072]]
2025-10-27T15:09:41.669Z,1761577781.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.51 m.
2025-10-27T15:09:41.672Z,1761577781.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.514221 m,
      nav range: 144.282578 m,
      bearing: 67.109798 deg,
      approach rate: -0.761706 m/s,
      LOS rate: -0.013421 deg/s,
      cmd heading: 72.497124 deg,
      new cmd heading: 72.483075 deg.

2025-10-27T15:09:41.673Z,1761577781.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265068 target range: 147.514221 and range: 148.20 m.
2025-10-27T15:09:41.786Z,1761577781.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468340
2025-10-27T15:09:42.036Z,1761577782.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718592
2025-10-27T15:09:42.054Z,1761577782.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313563,-0.937286,-0.152227],[0.949550,0.310472,0.044298],[0.005742,-0.158437,0.987352]]
2025-10-27T15:09:42.093Z,1761577782.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.51 m.
2025-10-27T15:09:42.101Z,1761577782.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.514221 m,
      nav range: 143.989578 m,
      bearing: 67.104639 deg,
      approach rate: -0.691240 m/s,
      LOS rate: -0.012196 deg/s,
      cmd heading: 72.483074 deg,
      new cmd heading: 72.467566 deg.

2025-10-27T15:09:42.102Z,1761577782.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264798 target range: 147.514221 and range: 148.20 m.
2025-10-27T15:09:42.288Z,1761577782.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970923
2025-10-27T15:09:42.489Z,1761577782.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313608,-0.937712,-0.149485],[0.949544,0.310365,0.045168],[0.004041,-0.156108,0.987732]]
2025-10-27T15:09:42.534Z,1761577782.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.51 m.
2025-10-27T15:09:42.537Z,1761577782.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.514221 m,
      nav range: 143.641876 m,
      bearing: 67.095502 deg,
      approach rate: -0.788440 m/s,
      LOS rate: -0.020770 deg/s,
      cmd heading: 72.467563 deg,
      new cmd heading: 72.440084 deg.

2025-10-27T15:09:42.537Z,1761577782.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264318 target range: 147.514221 and range: 148.20 m.
2025-10-27T15:09:42.540Z,1761577782.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222695
2025-10-27T15:09:42.795Z,1761577782.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476881
2025-10-27T15:09:42.883Z,1761577782.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313275,-0.938275,-0.146622],[0.949660,0.309893,0.045966],[0.002308,-0.153641,0.988124]]
2025-10-27T15:09:42.899Z,1761577782.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:42.901Z,1761577782.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.51 m.
2025-10-27T15:09:42.904Z,1761577782.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.514221 m,
      nav range: 143.365067 m,
      bearing: 67.088163 deg,
      approach rate: -0.752677 m/s,
      LOS rate: -0.019994 deg/s,
      cmd heading: 72.440085 deg,
      new cmd heading: 72.418025 deg.

2025-10-27T15:09:42.905Z,1761577782.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263933 target range: 147.514221 and range: 148.20 m.
2025-10-27T15:09:43.044Z,1761577783.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726512
2025-10-27T15:09:43.296Z,1761577783.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978764
2025-10-27T15:09:43.347Z,1761577783.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.51 m.
2025-10-27T15:09:43.350Z,1761577783.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.514221 m,
      nav range: 143.010483 m,
      bearing: 67.077506 deg,
      approach rate: -0.795302 m/s,
      LOS rate: -0.023961 deg/s,
      cmd heading: 72.418023 deg,
      new cmd heading: 72.385974 deg.

2025-10-27T15:09:43.351Z,1761577783.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263374 target range: 147.514221 and range: 148.20 m.
2025-10-27T15:09:43.548Z,1761577783.548 [DAT](INFO): DAT read: Rx Time:15:09:41.9708

2025-10-27T15:09:43.549Z,1761577783.549 [DAT](INFO): Rx dataTimestamp_ set to:1761577783.548653
2025-10-27T15:09:43.550Z,1761577783.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232286
2025-10-27T15:09:43.689Z,1761577783.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312689,-0.938985,-0.143295],[0.949856,0.309088,0.047320],[-0.000142,-0.150906,0.988548]]
2025-10-27T15:09:43.722Z,1761577783.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.51 m.
2025-10-27T15:09:43.726Z,1761577783.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.514221 m,
      nav range: 142.713135 m,
      bearing: 67.068460 deg,
      approach rate: -0.793898 m/s,
      LOS rate: -0.024202 deg/s,
      cmd heading: 72.385976 deg,
      new cmd heading: 72.358782 deg.

2025-10-27T15:09:43.728Z,1761577783.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262899 target range: 147.514221 and range: 148.20 m.
2025-10-27T15:09:43.801Z,1761577783.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483345
2025-10-27T15:09:44.058Z,1761577784.058 [DAT](INFO): DAT read: 15:09:41.9708 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 397, 0.41, 2.353, 0.823, 2.699, 2.292, PHS= 0.163,-1.424, 0.363, RAW= 155.9,  10.6, CAL= 155.8,  11.6, ROT= 354.2, -11.6

2025-10-27T15:09:44.059Z,1761577784.059 [DAT](INFO): got valid direction response:
 15:09:41.9708 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 397, 0.41, 2.353, 0.823, 2.699, 2.292, PHS= 0.163,-1.424, 0.363, RAW= 155.9,  10.6, CAL= 155.8,  11.6, ROT= 354.2, -11.6

2025-10-27T15:09:44.060Z,1761577784.060 [DAT](INFO): DAT read: Bearing 223.2,  -6.8 (Local)

2025-10-27T15:09:44.060Z,1761577784.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.2,  -6.8 (Local)

2025-10-27T15:09:44.062Z,1761577784.062 [DAT](INFO): DAT read: Range 11 to 50 : 145.3 m  (Round-trip  193.8 ms) speed  0.2 m/s

2025-10-27T15:09:44.062Z,1761577784.062 [DAT](INFO): DAT read: user:976>

2025-10-27T15:09:44.063Z,1761577784.063 [DAT](INFO): DAT read: Tx time:15:09:43.0744

2025-10-27T15:09:44.063Z,1761577784.063 [DAT](INFO): Ping request sent.
2025-10-27T15:09:44.064Z,1761577784.064 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:44.064Z,1761577784.064 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:44.065Z,1761577784.065 [DAT](INFO): direction in FSK: [0.974561,-0.098992,0.201078]
2025-10-27T15:09:44.065Z,1761577784.065 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:44.065Z,1761577784.065 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:44.069Z,1761577784.069 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:44.069Z,1761577784.069 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:44.172Z,1761577784.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312450,-0.939134,-0.142840],[0.949933,0.308673,0.048454],[-0.001414,-0.150828,0.988559]]
2025-10-27T15:09:44.253Z,1761577784.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.300003 m,
      deltaT: 3.777661 s,
      deltaX: -2.899994 m,
      approachRate: -0.767669 m/s,
      rangeRepo size: 4

2025-10-27T15:09:44.259Z,1761577784.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.627472 m,
      bearing: 67.830332 deg,
      lat: 36.779267 deg,
      lon: -121.859533 deg,
      deltaT: 3.777661 s,
      deltaX: -2.886749 m,
      approachRate: -0.764163 m/s,
      posRepo size: 4

2025-10-27T15:09:44.260Z,1761577784.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.63 m.
2025-10-27T15:09:44.262Z,1761577784.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.627472 m,
      nav range: 141.751633 m,
      bearing: 67.575665 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024202 deg/s,
      cmd heading: 72.358778 deg,
      new cmd heading: 72.320270 deg.

2025-10-27T15:09:44.268Z,1761577784.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262227 target range: 144.627472 and range: 145.30 m.
2025-10-27T15:09:44.630Z,1761577784.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.63 m.
2025-10-27T15:09:44.632Z,1761577784.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.627472 m,
      nav range: 141.414291 m,
      bearing: 67.564446 deg,
      approach rate: -0.893825 m/s,
      LOS rate: -0.029797 deg/s,
      cmd heading: 72.320270 deg,
      new cmd heading: 72.286533 deg.

2025-10-27T15:09:44.633Z,1761577784.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261638 target range: 144.627472 and range: 145.30 m.
2025-10-27T15:09:44.989Z,1761577784.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310405,-0.939939,-0.141997],[0.950597,0.306355,0.050108],[-0.003597,-0.150536,0.988598]]
2025-10-27T15:09:45.005Z,1761577785.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:45.008Z,1761577785.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.63 m.
2025-10-27T15:09:45.011Z,1761577785.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.627472 m,
      nav range: 141.100891 m,
      bearing: 67.553699 deg,
      approach rate: -0.827440 m/s,
      LOS rate: -0.028436 deg/s,
      cmd heading: 72.286535 deg,
      new cmd heading: 72.254224 deg.

2025-10-27T15:09:45.012Z,1761577785.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261074 target range: 144.627472 and range: 145.30 m.
2025-10-27T15:09:45.060Z,1761577785.060 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:45.060Z,1761577785.060 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:45.060Z,1761577785.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:45.312Z,1761577785.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248299
2025-10-27T15:09:45.383Z,1761577785.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309158,-0.940339,-0.142070],[0.951000,0.304962,0.050971],[-0.004605,-0.150867,0.988543]]
2025-10-27T15:09:45.420Z,1761577785.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.63 m.
2025-10-27T15:09:45.422Z,1761577785.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.627472 m,
      nav range: 140.771011 m,
      bearing: 67.540634 deg,
      approach rate: -0.802237 m/s,
      LOS rate: -0.031848 deg/s,
      cmd heading: 72.254222 deg,
      new cmd heading: 72.214934 deg.

2025-10-27T15:09:45.424Z,1761577785.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260388 target range: 144.627472 and range: 145.30 m.
2025-10-27T15:09:45.564Z,1761577785.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500374
2025-10-27T15:09:45.785Z,1761577785.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307729,-0.940877,-0.141610],[0.951458,0.303445,0.051463],[-0.005450,-0.150573,0.988584]]
2025-10-27T15:09:45.816Z,1761577785.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752417
2025-10-27T15:09:45.825Z,1761577785.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.63 m.
2025-10-27T15:09:45.828Z,1761577785.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.627472 m,
      nav range: 140.445892 m,
      bearing: 67.527496 deg,
      approach rate: -0.800768 m/s,
      LOS rate: -0.032433 deg/s,
      cmd heading: 72.214934 deg,
      new cmd heading: 72.175430 deg.

2025-10-27T15:09:45.829Z,1761577785.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259699 target range: 144.627472 and range: 145.30 m.
2025-10-27T15:09:46.068Z,1761577786.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004279
2025-10-27T15:09:46.238Z,1761577786.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306824,-0.941202,-0.141413],[0.951744,0.302403,0.052297],[-0.006458,-0.150635,0.988568]]
2025-10-27T15:09:46.298Z,1761577786.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.63 m.
2025-10-27T15:09:46.305Z,1761577786.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.627472 m,
      nav range: 140.079086 m,
      bearing: 67.513594 deg,
      approach rate: -0.775670 m/s,
      LOS rate: -0.029476 deg/s,
      cmd heading: 72.175429 deg,
      new cmd heading: 72.133613 deg.

2025-10-27T15:09:46.306Z,1761577786.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258969 target range: 144.627472 and range: 145.30 m.
2025-10-27T15:09:46.320Z,1761577786.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256412
2025-10-27T15:09:46.573Z,1761577786.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508992
2025-10-27T15:09:46.680Z,1761577786.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.63 m.
2025-10-27T15:09:46.683Z,1761577786.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.627472 m,
      nav range: 139.748840 m,
      bearing: 67.501015 deg,
      approach rate: -0.865620 m/s,
      LOS rate: -0.033050 deg/s,
      cmd heading: 72.133614 deg,
      new cmd heading: 72.095787 deg.

2025-10-27T15:09:46.684Z,1761577786.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258309 target range: 144.627472 and range: 145.30 m.
2025-10-27T15:09:46.824Z,1761577786.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760292
2025-10-27T15:09:47.045Z,1761577787.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304024,-0.942411,-0.139395],[0.952635,0.299597,0.052228],[-0.007458,-0.148672,0.988858]]
2025-10-27T15:09:47.076Z,1761577787.076 [DAT](INFO): DAT read: Rx Time:15:09:45.6685

2025-10-27T15:09:47.077Z,1761577787.077 [DAT](INFO): Rx dataTimestamp_ set to:1761577787.076421
2025-10-27T15:09:47.077Z,1761577787.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013657
2025-10-27T15:09:47.090Z,1761577787.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:47.100Z,1761577787.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.63 m.
2025-10-27T15:09:47.107Z,1761577787.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.627472 m,
      nav range: 139.429062 m,
      bearing: 67.488387 deg,
      approach rate: -0.760698 m/s,
      LOS rate: -0.030109 deg/s,
      cmd heading: 72.095789 deg,
      new cmd heading: 72.057817 deg.

2025-10-27T15:09:47.108Z,1761577787.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257646 target range: 144.627472 and range: 145.30 m.
2025-10-27T15:09:47.328Z,1761577787.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264264
2025-10-27T15:09:47.466Z,1761577787.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302716,-0.942631,-0.140750],[0.953052,0.298237,0.052414],[-0.007430,-0.150008,0.988657]]
2025-10-27T15:09:47.519Z,1761577787.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.63 m.
2025-10-27T15:09:47.522Z,1761577787.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.627472 m,
      nav range: 139.059509 m,
      bearing: 67.476730 deg,
      approach rate: -0.882971 m/s,
      LOS rate: -0.027924 deg/s,
      cmd heading: 72.057820 deg,
      new cmd heading: 72.022758 deg.

2025-10-27T15:09:47.523Z,1761577787.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257034 target range: 144.627472 and range: 145.30 m.
2025-10-27T15:09:47.590Z,1761577787.590 [DAT](INFO): DAT read: 15:09:45.6685 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 406,-0.05,-3.043, 1.705,-2.675,-3.137, PHS= 0.196,-1.396, 0.418, RAW= 156.4,   9.2, CAL= 156.2,   9.8, ROT= 353.8,  -9.8

2025-10-27T15:09:47.591Z,1761577787.591 [DAT](INFO): got valid direction response:
 15:09:45.6685 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 406,-0.05,-3.043, 1.705,-2.675,-3.137, PHS= 0.196,-1.396, 0.418, RAW= 156.4,   9.2, CAL= 156.2,   9.8, ROT= 353.8,  -9.8

2025-10-27T15:09:47.592Z,1761577787.592 [DAT](INFO): DAT read: Bearing 221.2,  -7.7 (Local)

2025-10-27T15:09:47.592Z,1761577787.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.2,  -7.7 (Local)

2025-10-27T15:09:47.594Z,1761577787.594 [DAT](INFO): DAT read: Range 11 to 50 : 142.5 m  (Round-trip  190.0 ms) speed  0.4 m/s

2025-10-27T15:09:47.595Z,1761577787.595 [DAT](INFO): DAT read: user:977>

2025-10-27T15:09:47.604Z,1761577787.604 [DAT](INFO): DAT read: Tx time:15:09:46.7728

2025-10-27T15:09:47.604Z,1761577787.604 [DAT](INFO): Ping request sent.
2025-10-27T15:09:47.604Z,1761577787.604 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:47.604Z,1761577787.604 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:47.605Z,1761577787.605 [DAT](INFO): direction in FSK: [0.979644,-0.106423,0.170209]
2025-10-27T15:09:47.606Z,1761577787.606 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:47.606Z,1761577787.606 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:47.618Z,1761577787.618 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:47.623Z,1761577787.623 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:47.858Z,1761577787.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301963,-0.942847,-0.140917],[0.953287,0.297413,0.052815],[-0.007886,-0.150283,0.988612]]
2025-10-27T15:09:47.917Z,1761577787.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 142.500000 m,
      deltaT: 3.529896 s,
      deltaX: -2.800003 m,
      approachRate: -0.793225 m/s,
      rangeRepo size: 4

2025-10-27T15:09:47.924Z,1761577787.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.839874 m,
      bearing: 67.783274 deg,
      lat: 36.779264 deg,
      lon: -121.859532 deg,
      deltaT: 3.529896 s,
      deltaX: -2.787598 m,
      approachRate: -0.789711 m/s,
      posRepo size: 4

2025-10-27T15:09:47.925Z,1761577787.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.84 m.
2025-10-27T15:09:47.932Z,1761577787.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.839874 m,
      nav range: 138.615982 m,
      bearing: 67.614582 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027924 deg/s,
      cmd heading: 72.022760 deg,
      new cmd heading: 71.989425 deg.

2025-10-27T15:09:47.933Z,1761577787.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256452 target range: 141.839874 and range: 142.50 m.
2025-10-27T15:09:48.347Z,1761577788.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.84 m.
2025-10-27T15:09:48.350Z,1761577788.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.839874 m,
      nav range: 138.269974 m,
      bearing: 67.605771 deg,
      approach rate: -0.804614 m/s,
      LOS rate: -0.020539 deg/s,
      cmd heading: 71.989422 deg,
      new cmd heading: 71.962925 deg.

2025-10-27T15:09:48.351Z,1761577788.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255990 target range: 141.839874 and range: 142.50 m.
2025-10-27T15:09:48.666Z,1761577788.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301123,-0.943001,-0.141681],[0.953544,0.296396,0.053872],[-0.008808,-0.151321,0.988445]]
2025-10-27T15:09:48.701Z,1761577788.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.84 m.
2025-10-27T15:09:48.704Z,1761577788.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.839874 m,
      nav range: 137.999023 m,
      bearing: 67.598744 deg,
      approach rate: -0.765587 m/s,
      LOS rate: -0.019896 deg/s,
      cmd heading: 71.962928 deg,
      new cmd heading: 71.941803 deg.

2025-10-27T15:09:48.705Z,1761577788.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255621 target range: 141.839874 and range: 142.50 m.
2025-10-27T15:09:49.071Z,1761577789.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301513,-0.942668,-0.143064],[0.953417,0.296628,0.054845],[-0.009264,-0.152937,0.988193]]
2025-10-27T15:09:49.089Z,1761577789.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.84 m.
2025-10-27T15:09:49.093Z,1761577789.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.839874 m,
      nav range: 137.680603 m,
      bearing: 67.590507 deg,
      approach rate: -0.818919 m/s,
      LOS rate: -0.021232 deg/s,
      cmd heading: 71.941802 deg,
      new cmd heading: 71.917035 deg.

2025-10-27T15:09:49.094Z,1761577789.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255189 target range: 141.839874 and range: 142.50 m.
2025-10-27T15:09:49.482Z,1761577789.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302514,-0.942136,-0.144447],[0.953089,0.297361,0.056545],[-0.010320,-0.154776,0.987896]]
2025-10-27T15:09:49.518Z,1761577789.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:49.520Z,1761577789.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.84 m.
2025-10-27T15:09:49.523Z,1761577789.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.839874 m,
      nav range: 137.354233 m,
      bearing: 67.584647 deg,
      approach rate: -0.758422 m/s,
      LOS rate: -0.013651 deg/s,
      cmd heading: 71.917036 deg,
      new cmd heading: 71.899412 deg.

2025-10-27T15:09:49.542Z,1761577789.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254882 target range: 141.839874 and range: 142.50 m.
2025-10-27T15:09:49.597Z,1761577789.597 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:49.597Z,1761577789.597 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:49.597Z,1761577789.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:49.848Z,1761577789.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243808
2025-10-27T15:09:49.878Z,1761577789.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303768,-0.941474,-0.146120],[0.952677,0.298304,0.058492],[-0.011481,-0.156973,0.987536]]
2025-10-27T15:09:49.914Z,1761577789.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.84 m.
2025-10-27T15:09:49.916Z,1761577789.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.839874 m,
      nav range: 137.054489 m,
      bearing: 67.579409 deg,
      approach rate: -0.761254 m/s,
      LOS rate: -0.013330 deg/s,
      cmd heading: 71.899414 deg,
      new cmd heading: 71.883668 deg.

2025-10-27T15:09:49.917Z,1761577789.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254607 target range: 141.839874 and range: 142.50 m.
2025-10-27T15:09:50.100Z,1761577790.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495893
2025-10-27T15:09:50.310Z,1761577790.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304861,-0.941102,-0.146241],[0.952310,0.299148,0.060131],[-0.012841,-0.157599,0.987420]]
2025-10-27T15:09:50.352Z,1761577790.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747997
2025-10-27T15:09:50.360Z,1761577790.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.84 m.
2025-10-27T15:09:50.362Z,1761577790.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.839874 m,
      nav range: 136.727554 m,
      bearing: 67.577576 deg,
      approach rate: -0.733771 m/s,
      LOS rate: -0.004125 deg/s,
      cmd heading: 71.883670 deg,
      new cmd heading: 71.878156 deg.

2025-10-27T15:09:50.364Z,1761577790.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254511 target range: 141.839874 and range: 142.50 m.
2025-10-27T15:09:50.605Z,1761577790.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001090
2025-10-27T15:09:50.691Z,1761577790.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306101,-0.940636,-0.146650],[0.951891,0.300098,0.061999],[-0.014309,-0.158573,0.987244]]
2025-10-27T15:09:50.709Z,1761577790.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.84 m.
2025-10-27T15:09:50.729Z,1761577790.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.839874 m,
      nav range: 136.468491 m,
      bearing: 67.576259 deg,
      approach rate: -0.739666 m/s,
      LOS rate: -0.003765 deg/s,
      cmd heading: 71.878158 deg,
      new cmd heading: 71.874202 deg.

2025-10-27T15:09:50.735Z,1761577790.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254441 target range: 141.839874 and range: 142.50 m.
2025-10-27T15:09:50.856Z,1761577790.856 [DAT](INFO): DAT read: Rx Time:15:09:49.3630

2025-10-27T15:09:50.857Z,1761577790.857 [DAT](INFO): Rx dataTimestamp_ set to:1761577790.856534
2025-10-27T15:09:50.857Z,1761577790.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253314
2025-10-27T15:09:51.094Z,1761577791.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308355,-0.939604,-0.148529],[0.951138,0.301921,0.064653],[-0.015905,-0.161208,0.986792]]
2025-10-27T15:09:51.108Z,1761577791.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504133
2025-10-27T15:09:51.114Z,1761577791.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.84 m.
2025-10-27T15:09:51.117Z,1761577791.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.839874 m,
      nav range: 136.171768 m,
      bearing: 67.575044 deg,
      approach rate: -0.733791 m/s,
      LOS rate: -0.003012 deg/s,
      cmd heading: 71.874204 deg,
      new cmd heading: 71.870550 deg.

2025-10-27T15:09:51.118Z,1761577791.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254378 target range: 141.839874 and range: 142.50 m.
2025-10-27T15:09:51.367Z,1761577791.367 [DAT](INFO): DAT read: 15:09:49.3630 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 398, 0.34, 3.050, 1.477,-2.845, 2.928, PHS= 0.224,-1.406, 0.466, RAW= 156.8,   8.2, CAL= 156.4,   8.5, ROT= 353.6,  -8.5

2025-10-27T15:09:51.368Z,1761577791.368 [DAT](INFO): got valid direction response:
 15:09:49.3630 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 398, 0.34, 3.050, 1.477,-2.845, 2.928, PHS= 0.224,-1.406, 0.466, RAW= 156.8,   8.2, CAL= 156.4,   8.5, ROT= 353.6,  -8.5

2025-10-27T15:09:51.369Z,1761577791.369 [DAT](INFO): DAT read: Bearing 218.5,  -8.6 (Local)

2025-10-27T15:09:51.370Z,1761577791.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.5,  -8.6 (Local)

2025-10-27T15:09:51.372Z,1761577791.372 [DAT](INFO): DAT read: Range 11 to 50 : 139.5 m  (Round-trip  186.1 ms) speed  0.4 m/s

2025-10-27T15:09:51.372Z,1761577791.372 [DAT](INFO): DAT read: user:978>

2025-10-27T15:09:51.373Z,1761577791.373 [DAT](INFO): DAT read: Tx time:15:09:50.4728

2025-10-27T15:09:51.374Z,1761577791.374 [DAT](INFO): Ping request sent.
2025-10-27T15:09:51.374Z,1761577791.374 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:51.374Z,1761577791.374 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:51.375Z,1761577791.375 [DAT](INFO): direction in FSK: [0.982852,-0.110244,0.147809]
2025-10-27T15:09:51.375Z,1761577791.375 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:51.376Z,1761577791.376 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:51.380Z,1761577791.380 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:51.380Z,1761577791.380 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:51.498Z,1761577791.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310408,-0.938657,-0.150231],[0.950445,0.303577,0.067041],[-0.017322,-0.163596,0.986375]]
2025-10-27T15:09:51.612Z,1761577791.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.500000 m,
      deltaT: 3.778534 s,
      deltaX: -3.000000 m,
      approachRate: -0.793959 m/s,
      rangeRepo size: 4

2025-10-27T15:09:51.614Z,1761577791.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 138.855103 m,
      bearing: 67.008561 deg,
      lat: 36.779264 deg,
      lon: -121.859526 deg,
      deltaT: 3.778534 s,
      deltaX: -2.984772 m,
      approachRate: -0.789928 m/s,
      posRepo size: 4

2025-10-27T15:09:51.619Z,1761577791.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.86 m.
2025-10-27T15:09:51.622Z,1761577791.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.855103 m,
      nav range: 136.332855 m,
      bearing: 67.658488 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003012 deg/s,
      cmd heading: 71.870549 deg,
      new cmd heading: 71.866100 deg.

2025-10-27T15:09:51.627Z,1761577791.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254300 target range: 138.855103 and range: 139.50 m.
2025-10-27T15:09:51.995Z,1761577791.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:51.997Z,1761577791.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.86 m.
2025-10-27T15:09:51.000Z,1761577792.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.855103 m,
      nav range: 136.049026 m,
      bearing: 67.656918 deg,
      approach rate: -0.726280 m/s,
      LOS rate: -0.004027 deg/s,
      cmd heading: 71.866103 deg,
      new cmd heading: 71.861382 deg.

2025-10-27T15:09:52.001Z,1761577792.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254218 target range: 138.855103 and range: 139.50 m.
2025-10-27T15:09:52.116Z,1761577792.116 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:52.116Z,1761577792.116 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:52.117Z,1761577792.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:52.355Z,1761577792.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316346,-0.935955,-0.154640],[0.948416,0.308463,0.073203],[-0.020814,-0.169820,0.985255]]
2025-10-27T15:09:52.368Z,1761577792.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994302
2025-10-27T15:09:52.418Z,1761577792.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.86 m.
2025-10-27T15:09:52.425Z,1761577792.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.855103 m,
      nav range: 135.786224 m,
      bearing: 67.656943 deg,
      approach rate: -0.624776 m/s,
      LOS rate: 0.000061 deg/s,
      cmd heading: 71.861383 deg,
      new cmd heading: 71.861460 deg.

2025-10-27T15:09:52.425Z,1761577792.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254219 target range: 138.855103 and range: 139.50 m.
2025-10-27T15:09:52.620Z,1761577792.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246323
2025-10-27T15:09:52.764Z,1761577792.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317941,-0.935419,-0.154614],[0.947847,0.309758,0.075067],[-0.022327,-0.170417,0.985119]]
2025-10-27T15:09:52.785Z,1761577792.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.86 m.
2025-10-27T15:09:52.788Z,1761577792.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.855103 m,
      nav range: 135.529053 m,
      bearing: 67.657149 deg,
      approach rate: -0.700109 m/s,
      LOS rate: 0.000562 deg/s,
      cmd heading: 71.861458 deg,
      new cmd heading: 71.862078 deg.

2025-10-27T15:09:52.789Z,1761577792.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254230 target range: 138.855103 and range: 139.50 m.
2025-10-27T15:09:52.873Z,1761577792.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498792
2025-10-27T15:09:53.124Z,1761577793.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750517
2025-10-27T15:09:53.174Z,1761577793.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319624,-0.934996,-0.153696],[0.947249,0.311244,0.076456],[-0.023649,-0.170025,0.985156]]
2025-10-27T15:09:53.201Z,1761577793.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.86 m.
2025-10-27T15:09:53.216Z,1761577793.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.855103 m,
      nav range: 135.251968 m,
      bearing: 67.657584 deg,
      approach rate: -0.665724 m/s,
      LOS rate: 0.001046 deg/s,
      cmd heading: 71.862080 deg,
      new cmd heading: 71.863386 deg.

2025-10-27T15:09:53.217Z,1761577793.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254253 target range: 138.855103 and range: 139.50 m.
2025-10-27T15:09:53.377Z,1761577793.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002905
2025-10-27T15:09:53.615Z,1761577793.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320960,-0.934663,-0.152935],[0.946761,0.312364,0.077928],[-0.025065,-0.169804,0.985159]]
2025-10-27T15:09:53.628Z,1761577793.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254203
2025-10-27T15:09:53.688Z,1761577793.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.86 m.
2025-10-27T15:09:53.690Z,1761577793.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.855103 m,
      nav range: 134.918564 m,
      bearing: 67.657889 deg,
      approach rate: -0.685490 m/s,
      LOS rate: 0.000629 deg/s,
      cmd heading: 71.863385 deg,
      new cmd heading: 71.864302 deg.

2025-10-27T15:09:53.691Z,1761577793.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254269 target range: 138.855103 and range: 139.50 m.
2025-10-27T15:09:53.880Z,1761577793.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506192
2025-10-27T15:09:54.017Z,1761577794.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321595,-0.934961,-0.149751],[0.946518,0.313069,0.078047],[-0.026089,-0.166842,0.985638]]
2025-10-27T15:09:54.054Z,1761577794.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:54.057Z,1761577794.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.86 m.
2025-10-27T15:09:54.064Z,1761577794.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.855103 m,
      nav range: 134.679764 m,
      bearing: 67.658190 deg,
      approach rate: -0.647027 m/s,
      LOS rate: 0.000818 deg/s,
      cmd heading: 71.864300 deg,
      new cmd heading: 71.865205 deg.

2025-10-27T15:09:54.065Z,1761577794.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254285 target range: 138.855103 and range: 139.50 m.
2025-10-27T15:09:54.133Z,1761577794.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758946
2025-10-27T15:09:54.384Z,1761577794.384 [DAT](INFO): DAT read: Rx Time:15:09:53.0595

2025-10-27T15:09:54.384Z,1761577794.384 [DAT](INFO): Rx dataTimestamp_ set to:1761577794.384141
2025-10-27T15:09:54.385Z,1761577794.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011342
2025-10-27T15:09:54.505Z,1761577794.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.86 m.
2025-10-27T15:09:54.508Z,1761577794.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.855103 m,
      nav range: 134.339294 m,
      bearing: 67.654753 deg,
      approach rate: -0.758938 m/s,
      LOS rate: -0.007682 deg/s,
      cmd heading: 71.865208 deg,
      new cmd heading: 71.854869 deg.

2025-10-27T15:09:54.509Z,1761577794.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254104 target range: 138.855103 and range: 139.50 m.
2025-10-27T15:09:54.588Z,1761577794.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:09:54.636Z,1761577794.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262357
2025-10-27T15:09:54.829Z,1761577794.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321904,-0.935168,-0.147779],[0.946361,0.313218,0.079346],[-0.027914,-0.165394,0.985832]]
2025-10-27T15:09:54.855Z,1761577794.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.86 m.
2025-10-27T15:09:54.857Z,1761577794.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.855103 m,
      nav range: 134.086365 m,
      bearing: 67.652229 deg,
      approach rate: -0.724096 m/s,
      LOS rate: -0.007239 deg/s,
      cmd heading: 71.854867 deg,
      new cmd heading: 71.847282 deg.

2025-10-27T15:09:54.858Z,1761577794.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253972 target range: 138.855103 and range: 139.50 m.
2025-10-27T15:09:54.888Z,1761577794.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514402
2025-10-27T15:09:55.153Z,1761577795.153 [DAT](INFO): DAT read: 15:09:53.0595 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 411,-0.04,-2.091, 2.644,-1.761,-2.157, PHS= 0.167,-1.438, 0.352, RAW= 155.4,  10.8, CAL= 155.3,  11.8, ROT= 354.7, -11.8

2025-10-27T15:09:55.154Z,1761577795.154 [DAT](INFO): got valid direction response:
 15:09:53.0595 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 411,-0.04,-2.091, 2.644,-1.761,-2.157, PHS= 0.167,-1.438, 0.352, RAW= 155.4,  10.8, CAL= 155.3,  11.8, ROT= 354.7, -11.8

2025-10-27T15:09:55.155Z,1761577795.155 [DAT](INFO): DAT read: Bearing 220.6,  -8.4 (Local)

2025-10-27T15:09:55.156Z,1761577795.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.6,  -8.4 (Local)

2025-10-27T15:09:55.157Z,1761577795.157 [DAT](INFO): DAT read: Range 11 to 50 : 136.9 m  (Round-trip  182.6 ms) speed  0.8 m/s

2025-10-27T15:09:55.158Z,1761577795.158 [DAT](INFO): DAT read: user:979>

2025-10-27T15:09:55.159Z,1761577795.159 [DAT](INFO): DAT read: Tx time:15:09:54.1728

2025-10-27T15:09:55.159Z,1761577795.159 [DAT](INFO): Ping request sent.
2025-10-27T15:09:55.159Z,1761577795.159 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:55.160Z,1761577795.160 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:55.161Z,1761577795.161 [DAT](INFO): direction in FSK: [0.974682,-0.090419,0.204496]
2025-10-27T15:09:55.161Z,1761577795.161 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:55.161Z,1761577795.161 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:55.174Z,1761577795.174 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:55.174Z,1761577795.174 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:55.230Z,1761577795.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321681,-0.935922,-0.143429],[0.946411,0.313223,0.078721],[-0.028751,-0.161066,0.986525]]
2025-10-27T15:09:55.366Z,1761577795.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 136.899994 m,
      deltaT: 3.780133 s,
      deltaX: -2.600006 m,
      approachRate: -0.687808 m/s,
      rangeRepo size: 4

2025-10-27T15:09:55.372Z,1761577795.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 136.267395 m,
      bearing: 67.941837 deg,
      lat: 36.779264 deg,
      lon: -121.859523 deg,
      deltaT: 3.780133 s,
      deltaX: -2.587708 m,
      approachRate: -0.684555 m/s,
      posRepo size: 4

2025-10-27T15:09:55.373Z,1761577795.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.27 m.
2025-10-27T15:09:55.380Z,1761577795.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.267395 m,
      nav range: 134.059769 m,
      bearing: 67.700207 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007239 deg/s,
      cmd heading: 71.847279 deg,
      new cmd heading: 71.836194 deg.

2025-10-27T15:09:55.381Z,1761577795.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253778 target range: 136.267395 and range: 136.90 m.
2025-10-27T15:09:55.591Z,1761577795.591 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:09:55.692Z,1761577795.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320696,-0.936860,-0.139452],[0.946729,0.312498,0.077770],[-0.029281,-0.156964,0.987170]]
2025-10-27T15:09:55.758Z,1761577795.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.27 m.
2025-10-27T15:09:55.765Z,1761577795.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.267395 m,
      nav range: 133.740005 m,
      bearing: 67.695979 deg,
      approach rate: -0.813338 m/s,
      LOS rate: -0.010782 deg/s,
      cmd heading: 71.836194 deg,
      new cmd heading: 71.823477 deg.

2025-10-27T15:09:55.766Z,1761577795.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253556 target range: 136.267395 and range: 136.90 m.
2025-10-27T15:09:56.097Z,1761577796.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320038,-0.937310,-0.137936],[0.946940,0.311915,0.077545],[-0.029660,-0.155435,0.987401]]
2025-10-27T15:09:56.114Z,1761577796.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:56.116Z,1761577796.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.27 m.
2025-10-27T15:09:56.119Z,1761577796.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.267395 m,
      nav range: 133.457886 m,
      bearing: 67.692154 deg,
      approach rate: -0.788011 m/s,
      LOS rate: -0.010706 deg/s,
      cmd heading: 71.823476 deg,
      new cmd heading: 71.811977 deg.

2025-10-27T15:09:56.120Z,1761577796.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253355 target range: 136.267395 and range: 136.90 m.
2025-10-27T15:09:56.148Z,1761577796.148 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:09:56.148Z,1761577796.148 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:09:56.149Z,1761577796.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:09:56.400Z,1761577796.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240770
2025-10-27T15:09:56.497Z,1761577796.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319423,-0.937595,-0.137422],[0.947133,0.311276,0.077754],[-0.030125,-0.154993,0.987456]]
2025-10-27T15:09:56.548Z,1761577796.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.27 m.
2025-10-27T15:09:56.551Z,1761577796.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.267395 m,
      nav range: 133.118561 m,
      bearing: 67.687033 deg,
      approach rate: -0.785113 m/s,
      LOS rate: -0.011878 deg/s,
      cmd heading: 71.811974 deg,
      new cmd heading: 71.796573 deg.

2025-10-27T15:09:56.552Z,1761577796.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253087 target range: 136.267395 and range: 136.90 m.
2025-10-27T15:09:56.652Z,1761577796.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492679
2025-10-27T15:09:56.904Z,1761577796.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744541
2025-10-27T15:09:56.977Z,1761577796.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.27 m.
2025-10-27T15:09:56.980Z,1761577796.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.267395 m,
      nav range: 132.794312 m,
      bearing: 67.682116 deg,
      approach rate: -0.756835 m/s,
      LOS rate: -0.011505 deg/s,
      cmd heading: 71.796572 deg,
      new cmd heading: 71.781784 deg.

2025-10-27T15:09:56.981Z,1761577796.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252828 target range: 136.267395 and range: 136.90 m.
2025-10-27T15:09:57.156Z,1761577797.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996584
2025-10-27T15:09:57.310Z,1761577797.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318056,-0.938042,-0.137543],[0.947568,0.309791,0.078391],[-0.030925,-0.155264,0.987389]]
2025-10-27T15:09:57.398Z,1761577797.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.27 m.
2025-10-27T15:09:57.405Z,1761577797.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.267395 m,
      nav range: 132.467636 m,
      bearing: 67.676934 deg,
      approach rate: -0.774915 m/s,
      LOS rate: -0.012323 deg/s,
      cmd heading: 71.781784 deg,
      new cmd heading: 71.766200 deg.

2025-10-27T15:09:57.406Z,1761577797.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252556 target range: 136.267395 and range: 136.90 m.
2025-10-27T15:09:57.408Z,1761577797.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248667
2025-10-27T15:09:57.660Z,1761577797.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500633
2025-10-27T15:09:57.710Z,1761577797.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317488,-0.938023,-0.138975],[0.947750,0.309077,0.078999],[-0.031149,-0.156795,0.987140]]
2025-10-27T15:09:57.767Z,1761577797.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.27 m.
2025-10-27T15:09:57.770Z,1761577797.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.267395 m,
      nav range: 132.182831 m,
      bearing: 67.672319 deg,
      approach rate: -0.781145 m/s,
      LOS rate: -0.012684 deg/s,
      cmd heading: 71.766198 deg,
      new cmd heading: 71.752324 deg.

2025-10-27T15:09:57.775Z,1761577797.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252314 target range: 136.267395 and range: 136.90 m.
2025-10-27T15:09:57.912Z,1761577797.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752537
2025-10-27T15:09:58.114Z,1761577798.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316884,-0.937867,-0.141390],[0.947946,0.308241,0.079916],[-0.031368,-0.159354,0.986723]]
2025-10-27T15:09:58.131Z,1761577798.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:09:58.133Z,1761577798.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.27 m.
2025-10-27T15:09:58.136Z,1761577798.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.267395 m,
      nav range: 131.875229 m,
      bearing: 67.667223 deg,
      approach rate: -0.830015 m/s,
      LOS rate: -0.013782 deg/s,
      cmd heading: 71.752326 deg,
      new cmd heading: 71.737003 deg.

2025-10-27T15:09:58.137Z,1761577798.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252047 target range: 136.267395 and range: 136.90 m.
2025-10-27T15:09:58.164Z,1761577798.164 [DAT](INFO): DAT read: Rx Time:15:09:56.7556

2025-10-27T15:09:58.164Z,1761577798.164 [DAT](INFO): Rx dataTimestamp_ set to:1761577798.164215
2025-10-27T15:09:58.165Z,1761577798.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005708
2025-10-27T15:09:58.418Z,1761577798.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258290
2025-10-27T15:09:58.518Z,1761577798.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316760,-0.937827,-0.141927],[0.947968,0.307978,0.080665],[-0.031939,-0.160094,0.986585]]
2025-10-27T15:09:58.591Z,1761577798.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.27 m.
2025-10-27T15:09:58.594Z,1761577798.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.267395 m,
      nav range: 131.515411 m,
      bearing: 67.661091 deg,
      approach rate: -0.822664 m/s,
      LOS rate: -0.014058 deg/s,
      cmd heading: 71.737006 deg,
      new cmd heading: 71.718559 deg.

2025-10-27T15:09:58.599Z,1761577798.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251725 target range: 136.267395 and range: 136.90 m.
2025-10-27T15:09:58.678Z,1761577798.678 [DAT](INFO): DAT read: 15:09:56.7556 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 402, 0.40,-2.147, 2.604,-1.806,-2.214, PHS= 0.169,-1.420, 0.364, RAW= 155.7,  10.5, CAL= 155.6,  11.5, ROT= 354.4, -11.5

2025-10-27T15:09:58.680Z,1761577798.680 [DAT](INFO): got valid direction response:
 15:09:56.7556 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 402, 0.40,-2.147, 2.604,-1.806,-2.214, PHS= 0.169,-1.420, 0.364, RAW= 155.7,  10.5, CAL= 155.6,  11.5, ROT= 354.4, -11.5

2025-10-27T15:09:58.681Z,1761577798.681 [DAT](INFO): DAT read: Bearing 219.6,  -9.0 (Local)

2025-10-27T15:09:58.681Z,1761577798.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.6,  -9.0 (Local)

2025-10-27T15:09:58.684Z,1761577798.684 [DAT](INFO): DAT read: Range 11 to 50 : 134.0 m  (Round-trip  178.7 ms) speed  0.8 m/s

2025-10-27T15:09:58.685Z,1761577798.685 [DAT](INFO): DAT read: user:980>

2025-10-27T15:09:58.685Z,1761577798.685 [DAT](INFO): DAT read: Tx time:15:09:57.8728

2025-10-27T15:09:58.686Z,1761577798.686 [DAT](INFO): Ping request sent.
2025-10-27T15:09:58.686Z,1761577798.686 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:09:58.686Z,1761577798.686 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:09:58.687Z,1761577798.687 [DAT](INFO): direction in FSK: [0.975248,-0.095624,0.199368]
2025-10-27T15:09:58.687Z,1761577798.687 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:58.688Z,1761577798.688 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:58.713Z,1761577798.713 [DAT](INFO): publishing transmit ping time
2025-10-27T15:09:58.714Z,1761577798.714 [DAT](INFO): publishing direction and range info
2025-10-27T15:09:58.989Z,1761577798.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316483,-0.937984,-0.141511],[0.948038,0.307629,0.081171],[-0.032604,-0.159847,0.986603]]
2025-10-27T15:09:59.013Z,1761577799.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.000000 m,
      deltaT: 3.529186 s,
      deltaX: -2.899994 m,
      approachRate: -0.821718 m/s,
      rangeRepo size: 4

2025-10-27T15:09:59.015Z,1761577799.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.381454 m,
      bearing: 67.895982 deg,
      lat: 36.779260 deg,
      lon: -121.859522 deg,
      deltaT: 3.529186 s,
      deltaX: -2.885941 m,
      approachRate: -0.817735 m/s,
      posRepo size: 4

2025-10-27T15:09:59.016Z,1761577799.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.38 m.
2025-10-27T15:09:59.018Z,1761577799.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.381454 m,
      nav range: 131.042679 m,
      bearing: 67.805588 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014058 deg/s,
      cmd heading: 71.718557 deg,
      new cmd heading: 71.699953 deg.

2025-10-27T15:09:59.019Z,1761577799.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251400 target range: 133.381454 and range: 134.00 m.
2025-10-27T15:09:59.436Z,1761577799.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316441,-0.937907,-0.142113],[0.948029,0.307425,0.082037],[-0.033254,-0.160687,0.986445]]
2025-10-27T15:09:59.496Z,1761577799.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.38 m.
2025-10-27T15:09:59.499Z,1761577799.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.381454 m,
      nav range: 130.650940 m,
      bearing: 67.798065 deg,
      approach rate: -0.809114 m/s,
      LOS rate: -0.015585 deg/s,
      cmd heading: 71.699952 deg,
      new cmd heading: 71.677315 deg.

2025-10-27T15:09:59.500Z,1761577799.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251005 target range: 133.381454 and range: 134.00 m.
2025-10-27T15:09:59.815Z,1761577799.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316606,-0.937853,-0.142104],[0.947950,0.307472,0.082777],[-0.033940,-0.160915,0.986385]]
2025-10-27T15:09:59.853Z,1761577799.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.38 m.
2025-10-27T15:09:59.860Z,1761577799.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.381454 m,
      nav range: 130.378677 m,
      bearing: 67.792832 deg,
      approach rate: -0.762856 m/s,
      LOS rate: -0.014693 deg/s,
      cmd heading: 71.677317 deg,
      new cmd heading: 71.661585 deg.

2025-10-27T15:09:59.861Z,1761577799.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250731 target range: 133.381454 and range: 134.00 m.
2025-10-27T15:10:00.218Z,1761577800.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316290,-0.938095,-0.141204],[0.948043,0.307185,0.082776],[-0.034276,-0.160049,0.986514]]
2025-10-27T15:10:00.249Z,1761577800.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:00.251Z,1761577800.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.38 m.
2025-10-27T15:10:00.254Z,1761577800.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.381454 m,
      nav range: 130.043671 m,
      bearing: 67.786313 deg,
      approach rate: -0.840817 m/s,
      LOS rate: -0.016404 deg/s,
      cmd heading: 71.661587 deg,
      new cmd heading: 71.641979 deg.

2025-10-27T15:10:00.255Z,1761577800.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250388 target range: 133.381454 and range: 134.00 m.
2025-10-27T15:10:00.436Z,1761577800.436 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:00.437Z,1761577800.437 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:00.438Z,1761577800.438 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:00.622Z,1761577800.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316320,-0.938588,-0.137820],[0.948011,0.307409,0.082312],[-0.034890,-0.156692,0.987031]]
2025-10-27T15:10:00.673Z,1761577800.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.38 m.
2025-10-27T15:10:00.676Z,1761577800.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.381454 m,
      nav range: 129.707764 m,
      bearing: 67.781970 deg,
      approach rate: -0.796889 m/s,
      LOS rate: -0.010329 deg/s,
      cmd heading: 71.641977 deg,
      new cmd heading: 71.628915 deg.

2025-10-27T15:10:00.677Z,1761577800.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250160 target range: 133.381454 and range: 134.00 m.
2025-10-27T15:10:00.684Z,1761577800.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998581
2025-10-27T15:10:00.937Z,1761577800.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251625
2025-10-27T15:10:01.026Z,1761577801.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316426,-0.938829,-0.135919],[0.947951,0.307572,0.082395],[-0.035550,-0.154916,0.987288]]
2025-10-27T15:10:01.050Z,1761577801.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.38 m.
2025-10-27T15:10:01.053Z,1761577801.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.381454 m,
      nav range: 129.407944 m,
      bearing: 67.778092 deg,
      approach rate: -0.795935 m/s,
      LOS rate: -0.010320 deg/s,
      cmd heading: 71.628918 deg,
      new cmd heading: 71.617256 deg.

2025-10-27T15:10:01.053Z,1761577801.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249957 target range: 133.381454 and range: 134.00 m.
2025-10-27T15:10:01.188Z,1761577801.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502102
2025-10-27T15:10:01.444Z,1761577801.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757675
2025-10-27T15:10:01.464Z,1761577801.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316663,-0.938816,-0.135462],[0.947845,0.307730,0.083014],[-0.036249,-0.154685,0.987299]]
2025-10-27T15:10:01.500Z,1761577801.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.38 m.
2025-10-27T15:10:01.503Z,1761577801.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.381454 m,
      nav range: 129.049072 m,
      bearing: 67.773533 deg,
      approach rate: -0.796743 m/s,
      LOS rate: -0.010150 deg/s,
      cmd heading: 71.617259 deg,
      new cmd heading: 71.603543 deg.

2025-10-27T15:10:01.504Z,1761577801.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249718 target range: 133.381454 and range: 134.00 m.
2025-10-27T15:10:01.692Z,1761577801.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006212
2025-10-27T15:10:01.833Z,1761577801.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316879,-0.938996,-0.133697],[0.947746,0.307986,0.083199],[-0.036946,-0.153075,0.987524]]
2025-10-27T15:10:01.862Z,1761577801.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.38 m.
2025-10-27T15:10:01.865Z,1761577801.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.381454 m,
      nav range: 128.760284 m,
      bearing: 67.769877 deg,
      approach rate: -0.797188 m/s,
      LOS rate: -0.010113 deg/s,
      cmd heading: 71.603544 deg,
      new cmd heading: 71.592553 deg.

2025-10-27T15:10:01.866Z,1761577801.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249526 target range: 133.381454 and range: 134.00 m.
2025-10-27T15:10:01.945Z,1761577801.945 [DAT](INFO): DAT read: Rx Time:15:10:00.4516

2025-10-27T15:10:01.946Z,1761577801.946 [DAT](INFO): Rx dataTimestamp_ set to:1761577801.946014
2025-10-27T15:10:01.948Z,1761577801.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261936
2025-10-27T15:10:02.196Z,1761577802.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510194
2025-10-27T15:10:02.242Z,1761577802.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316582,-0.939192,-0.133022],[0.947823,0.307664,0.083509],[-0.037505,-0.152519,0.987589]]
2025-10-27T15:10:02.258Z,1761577802.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:02.261Z,1761577802.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.38 m.
2025-10-27T15:10:02.264Z,1761577802.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.381454 m,
      nav range: 128.443192 m,
      bearing: 67.765803 deg,
      approach rate: -0.795954 m/s,
      LOS rate: -0.010254 deg/s,
      cmd heading: 71.592554 deg,
      new cmd heading: 71.580299 deg.

2025-10-27T15:10:02.265Z,1761577802.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249312 target range: 133.381454 and range: 134.00 m.
2025-10-27T15:10:02.479Z,1761577802.479 [DAT](INFO): DAT read: 15:10:00.4516 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 394,-0.41,-1.855, 2.861,-1.513,-1.925, PHS= 0.172,-1.453, 0.367, RAW= 155.6,  10.6, CAL= 155.5,  11.6, ROT= 354.5, -11.6

2025-10-27T15:10:02.485Z,1761577802.485 [DAT](INFO): got valid direction response:
 15:10:00.4516 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 394,-0.41,-1.855, 2.861,-1.513,-1.925, PHS= 0.172,-1.453, 0.367, RAW= 155.6,  10.6, CAL= 155.5,  11.6, ROT= 354.5, -11.6

2025-10-27T15:10:02.486Z,1761577802.486 [DAT](INFO): DAT read: Bearing 219.2,  -9.3 (Local)

2025-10-27T15:10:02.491Z,1761577802.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.2,  -9.3 (Local)

2025-10-27T15:10:02.493Z,1761577802.493 [DAT](INFO): DAT read: Range 11 to 50 : 131.0 m  (Round-trip  174.7 ms) speed  0.4 m/s

2025-10-27T15:10:02.493Z,1761577802.493 [DAT](INFO): DAT read: user:981>

2025-10-27T15:10:02.494Z,1761577802.494 [DAT](INFO): DAT read: Tx time:15:10:01.5728

2025-10-27T15:10:02.494Z,1761577802.494 [DAT](INFO): Ping request sent.
2025-10-27T15:10:02.494Z,1761577802.494 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:02.499Z,1761577802.499 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:02.500Z,1761577802.500 [DAT](INFO): direction in FSK: [0.975065,-0.093888,0.201078]
2025-10-27T15:10:02.500Z,1761577802.500 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:02.501Z,1761577802.501 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:02.516Z,1761577802.516 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:02.516Z,1761577802.516 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:02.638Z,1761577802.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316244,-0.939491,-0.131707],[0.947911,0.307345,0.083693],[-0.038149,-0.151314,0.987749]]
2025-10-27T15:10:02.726Z,1761577802.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 131.000000 m,
      deltaT: 3.780173 s,
      deltaX: -3.000000 m,
      approachRate: -0.793614 m/s,
      rangeRepo size: 4

2025-10-27T15:10:02.733Z,1761577802.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.394684 m,
      bearing: 67.918484 deg,
      lat: 36.779259 deg,
      lon: -121.859520 deg,
      deltaT: 3.780173 s,
      deltaX: -2.986771 m,
      approachRate: -0.790115 m/s,
      posRepo size: 4

2025-10-27T15:10:02.734Z,1761577802.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.39 m.
2025-10-27T15:10:02.742Z,1761577802.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.394684 m,
      nav range: 128.218842 m,
      bearing: 67.848041 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010254 deg/s,
      cmd heading: 71.580301 deg,
      new cmd heading: 71.566330 deg.

2025-10-27T15:10:02.748Z,1761577802.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249068 target range: 130.394684 and range: 131.00 m.
2025-10-27T15:10:03.075Z,1761577803.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316123,-0.939864,-0.129312],[0.947917,0.307307,0.083764],[-0.038988,-0.149056,0.988060]]
2025-10-27T15:10:03.105Z,1761577803.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.39 m.
2025-10-27T15:10:03.107Z,1761577803.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.394684 m,
      nav range: 127.887825 m,
      bearing: 67.842134 deg,
      approach rate: -0.849547 m/s,
      LOS rate: -0.015199 deg/s,
      cmd heading: 71.566333 deg,
      new cmd heading: 71.548566 deg.

2025-10-27T15:10:03.108Z,1761577803.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248758 target range: 130.394684 and range: 131.00 m.
2025-10-27T15:10:03.488Z,1761577803.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315537,-0.940241,-0.127993],[0.948093,0.306778,0.083704],[-0.039436,-0.147761,0.988236]]
2025-10-27T15:10:03.548Z,1761577803.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.39 m.
2025-10-27T15:10:03.550Z,1761577803.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.394684 m,
      nav range: 127.544243 m,
      bearing: 67.839915 deg,
      approach rate: -0.775374 m/s,
      LOS rate: -0.005021 deg/s,
      cmd heading: 71.548567 deg,
      new cmd heading: 71.541893 deg.

2025-10-27T15:10:03.552Z,1761577803.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248642 target range: 130.394684 and range: 131.00 m.
2025-10-27T15:10:03.894Z,1761577803.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315091,-0.940636,-0.126179],[0.948234,0.306472,0.083226],[-0.039615,-0.145871,0.988510]]
2025-10-27T15:10:03.912Z,1761577803.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.39 m.
2025-10-27T15:10:03.915Z,1761577803.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.394684 m,
      nav range: 127.250847 m,
      bearing: 67.837952 deg,
      approach rate: -0.804762 m/s,
      LOS rate: -0.005398 deg/s,
      cmd heading: 71.541894 deg,
      new cmd heading: 71.535990 deg.

2025-10-27T15:10:03.917Z,1761577803.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248539 target range: 130.394684 and range: 131.00 m.
2025-10-27T15:10:04.290Z,1761577804.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314491,-0.940975,-0.125146],[0.948418,0.305916,0.083180],[-0.039986,-0.144851,0.988645]]
2025-10-27T15:10:04.314Z,1761577804.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:04.316Z,1761577804.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.39 m.
2025-10-27T15:10:04.319Z,1761577804.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.394684 m,
      nav range: 126.933022 m,
      bearing: 67.835726 deg,
      approach rate: -0.786173 m/s,
      LOS rate: -0.005519 deg/s,
      cmd heading: 71.535993 deg,
      new cmd heading: 71.529300 deg.

2025-10-27T15:10:04.320Z,1761577804.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248422 target range: 130.394684 and range: 131.00 m.
2025-10-27T15:10:04.466Z,1761577804.466 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:04.467Z,1761577804.467 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:04.468Z,1761577804.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:04.694Z,1761577804.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314530,-0.940708,-0.127042],[0.948400,0.305766,0.083937],[-0.040115,-0.146888,0.988339]]
2025-10-27T15:10:04.716Z,1761577804.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221593
2025-10-27T15:10:04.780Z,1761577804.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.39 m.
2025-10-27T15:10:04.783Z,1761577804.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.394684 m,
      nav range: 126.580994 m,
      bearing: 67.833145 deg,
      approach rate: -0.759312 m/s,
      LOS rate: -0.005584 deg/s,
      cmd heading: 71.529300 deg,
      new cmd heading: 71.521534 deg.

2025-10-27T15:10:04.784Z,1761577804.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248286 target range: 130.394684 and range: 131.00 m.
2025-10-27T15:10:04.968Z,1761577804.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473407
2025-10-27T15:10:05.098Z,1761577805.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314693,-0.940447,-0.128561],[0.948348,0.305800,0.084394],[-0.040054,-0.148478,0.988104]]
2025-10-27T15:10:05.122Z,1761577805.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.39 m.
2025-10-27T15:10:05.125Z,1761577805.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.394684 m,
      nav range: 126.310860 m,
      bearing: 67.831172 deg,
      approach rate: -0.789067 m/s,
      LOS rate: -0.005774 deg/s,
      cmd heading: 71.521534 deg,
      new cmd heading: 71.515603 deg.

2025-10-27T15:10:05.126Z,1761577805.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248183 target range: 130.394684 and range: 131.00 m.
2025-10-27T15:10:05.220Z,1761577805.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725950
2025-10-27T15:10:05.476Z,1761577805.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980519
2025-10-27T15:10:05.518Z,1761577805.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314652,-0.940246,-0.130124],[0.948367,0.305640,0.084758],[-0.039922,-0.150075,0.987868]]
2025-10-27T15:10:05.568Z,1761577805.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.39 m.
2025-10-27T15:10:05.570Z,1761577805.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.394684 m,
      nav range: 125.968483 m,
      bearing: 67.829803 deg,
      approach rate: -0.769061 m/s,
      LOS rate: -0.003085 deg/s,
      cmd heading: 71.515605 deg,
      new cmd heading: 71.511484 deg.

2025-10-27T15:10:05.572Z,1761577805.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248111 target range: 130.394684 and range: 131.00 m.
2025-10-27T15:10:05.725Z,1761577805.725 [DAT](INFO): DAT read: Rx Time:15:10:04.1481

2025-10-27T15:10:05.725Z,1761577805.725 [DAT](INFO): Rx dataTimestamp_ set to:1761577805.724795
2025-10-27T15:10:05.726Z,1761577805.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231517
2025-10-27T15:10:05.976Z,1761577805.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481566
2025-10-27T15:10:05.984Z,1761577805.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.39 m.
2025-10-27T15:10:05.987Z,1761577805.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.394684 m,
      nav range: 125.640678 m,
      bearing: 67.828484 deg,
      approach rate: -0.787587 m/s,
      LOS rate: -0.003176 deg/s,
      cmd heading: 71.511486 deg,
      new cmd heading: 71.507520 deg.

2025-10-27T15:10:05.988Z,1761577805.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248042 target range: 130.394684 and range: 131.00 m.
2025-10-27T15:10:06.234Z,1761577806.234 [DAT](INFO): DAT read: 15:10:04.1481 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 407,-0.19, 0.545,-1.042, 0.900, 0.446, PHS= 0.201,-1.443, 0.409, RAW= 155.9,   9.5, CAL= 155.7,  10.2, ROT= 354.3, -10.2

2025-10-27T15:10:06.235Z,1761577806.235 [DAT](INFO): got valid direction response:
 15:10:04.1481 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 407,-0.19, 0.545,-1.042, 0.900, 0.446, PHS= 0.201,-1.443, 0.409, RAW= 155.9,   9.5, CAL= 155.7,  10.2, ROT= 354.3, -10.2

2025-10-27T15:10:06.236Z,1761577806.236 [DAT](INFO): DAT read: Bearing 217.2,  -9.3 (Local)

2025-10-27T15:10:06.236Z,1761577806.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.2,  -9.3 (Local)

2025-10-27T15:10:06.238Z,1761577806.238 [DAT](INFO): DAT read: Range 11 to 50 : 128.4 m  (Round-trip  171.2 ms) speed  0.5 m/s

2025-10-27T15:10:06.238Z,1761577806.238 [DAT](INFO): DAT read: user:982>

2025-10-27T15:10:06.239Z,1761577806.239 [DAT](INFO): DAT read: Tx time:15:10:05.2727

2025-10-27T15:10:06.240Z,1761577806.240 [DAT](INFO): Ping request sent.
2025-10-27T15:10:06.240Z,1761577806.240 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:06.240Z,1761577806.240 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:06.241Z,1761577806.241 [DAT](INFO): direction in FSK: [0.979329,-0.097750,0.177085]
2025-10-27T15:10:06.241Z,1761577806.241 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:06.241Z,1761577806.241 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:06.245Z,1761577806.245 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:06.245Z,1761577806.245 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:06.310Z,1761577806.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315287,-0.939336,-0.135064],[0.948163,0.305841,0.086299],[-0.039755,-0.155272,0.987072]]
2025-10-27T15:10:06.392Z,1761577806.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.399994 m,
      deltaT: 3.778110 s,
      deltaX: -2.600006 m,
      approachRate: -0.688176 m/s,
      rangeRepo size: 4

2025-10-27T15:10:06.394Z,1761577806.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.807419 m,
      bearing: 67.601652 deg,
      lat: 36.779259 deg,
      lon: -121.859520 deg,
      deltaT: 3.778110 s,
      deltaX: -2.587265 m,
      approachRate: -0.684804 m/s,
      posRepo size: 4

2025-10-27T15:10:06.399Z,1761577806.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.81 m.
2025-10-27T15:10:06.402Z,1761577806.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.807419 m,
      nav range: 125.372757 m,
      bearing: 67.830635 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003176 deg/s,
      cmd heading: 71.507518 deg,
      new cmd heading: 71.503795 deg.

2025-10-27T15:10:06.412Z,1761577806.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247977 target range: 127.807419 and range: 128.40 m.
2025-10-27T15:10:06.754Z,1761577806.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315102,-0.939005,-0.137766],[0.948235,0.305451,0.086888],[-0.039507,-0.158013,0.986646]]
2025-10-27T15:10:06.804Z,1761577806.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:06.806Z,1761577806.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.81 m.
2025-10-27T15:10:06.810Z,1761577806.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.807419 m,
      nav range: 125.016922 m,
      bearing: 67.830822 deg,
      approach rate: -0.824555 m/s,
      LOS rate: 0.000436 deg/s,
      cmd heading: 71.503796 deg,
      new cmd heading: 71.504360 deg.

2025-10-27T15:10:06.811Z,1761577806.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247987 target range: 127.807419 and range: 128.40 m.
2025-10-27T15:10:06.984Z,1761577806.984 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:06.984Z,1761577806.984 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:06.984Z,1761577806.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:07.149Z,1761577807.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314849,-0.938901,-0.139051],[0.948325,0.305106,0.087126],[-0.039378,-0.159297,0.986445]]
2025-10-27T15:10:07.172Z,1761577807.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.81 m.
2025-10-27T15:10:07.176Z,1761577807.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.807419 m,
      nav range: 124.733704 m,
      bearing: 67.830935 deg,
      approach rate: -0.773246 m/s,
      LOS rate: 0.000309 deg/s,
      cmd heading: 71.504362 deg,
      new cmd heading: 71.504702 deg.

2025-10-27T15:10:07.177Z,1761577807.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247993 target range: 127.807419 and range: 128.40 m.
2025-10-27T15:10:07.236Z,1761577807.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996434
2025-10-27T15:10:07.490Z,1761577807.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250161
2025-10-27T15:10:07.552Z,1761577807.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314808,-0.938569,-0.141367],[0.948337,0.304845,0.087899],[-0.039405,-0.161735,0.986047]]
2025-10-27T15:10:07.604Z,1761577807.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.81 m.
2025-10-27T15:10:07.606Z,1761577807.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.807419 m,
      nav range: 124.403961 m,
      bearing: 67.830242 deg,
      approach rate: -0.764438 m/s,
      LOS rate: -0.001610 deg/s,
      cmd heading: 71.504704 deg,
      new cmd heading: 71.502620 deg.

2025-10-27T15:10:07.608Z,1761577807.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247956 target range: 127.807419 and range: 128.40 m.
2025-10-27T15:10:07.741Z,1761577807.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501652
2025-10-27T15:10:07.955Z,1761577807.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314576,-0.938641,-0.141405],[0.948407,0.304584,0.088050],[-0.039578,-0.161808,0.986028]]
2025-10-27T15:10:07.987Z,1761577807.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.81 m.
2025-10-27T15:10:07.990Z,1761577807.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.807419 m,
      nav range: 124.112839 m,
      bearing: 67.829595 deg,
      approach rate: -0.760194 m/s,
      LOS rate: -0.001694 deg/s,
      cmd heading: 71.502621 deg,
      new cmd heading: 71.500675 deg.

2025-10-27T15:10:07.991Z,1761577807.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247922 target range: 127.807419 and range: 128.40 m.
2025-10-27T15:10:07.992Z,1761577807.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752361
2025-10-27T15:10:08.244Z,1761577808.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004251
2025-10-27T15:10:08.358Z,1761577808.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314973,-0.938481,-0.141584],[0.948261,0.304903,0.088513],[-0.039899,-0.162138,0.985961]]
2025-10-27T15:10:08.404Z,1761577808.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.81 m.
2025-10-27T15:10:08.411Z,1761577808.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.807419 m,
      nav range: 123.810417 m,
      bearing: 67.828979 deg,
      approach rate: -0.724377 m/s,
      LOS rate: -0.001480 deg/s,
      cmd heading: 71.500674 deg,
      new cmd heading: 71.498820 deg.

2025-10-27T15:10:08.414Z,1761577808.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247890 target range: 127.807419 and range: 128.40 m.
2025-10-27T15:10:08.497Z,1761577808.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257083
2025-10-27T15:10:08.748Z,1761577808.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508489
2025-10-27T15:10:08.780Z,1761577808.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315116,-0.938539,-0.140876],[0.948192,0.305020,0.088855],[-0.040424,-0.161577,0.986032]]
2025-10-27T15:10:08.830Z,1761577808.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:08.832Z,1761577808.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.81 m.
2025-10-27T15:10:08.835Z,1761577808.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.807419 m,
      nav range: 123.471008 m,
      bearing: 67.831837 deg,
      approach rate: -0.793351 m/s,
      LOS rate: 0.006699 deg/s,
      cmd heading: 71.498823 deg,
      new cmd heading: 71.507421 deg.

2025-10-27T15:10:08.836Z,1761577808.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248040 target range: 127.807419 and range: 128.40 m.
2025-10-27T15:10:08.000Z,1761577809.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760253
2025-10-27T15:10:09.174Z,1761577809.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315538,-0.938474,-0.140366],[0.948033,0.305407,0.089225],[-0.040866,-0.161226,0.986071]]
2025-10-27T15:10:09.198Z,1761577809.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.81 m.
2025-10-27T15:10:09.201Z,1761577809.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.807419 m,
      nav range: 123.193489 m,
      bearing: 67.834244 deg,
      approach rate: -0.758743 m/s,
      LOS rate: 0.006597 deg/s,
      cmd heading: 71.507422 deg,
      new cmd heading: 71.514661 deg.

2025-10-27T15:10:09.202Z,1761577809.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248166 target range: 127.807419 and range: 128.40 m.
2025-10-27T15:10:09.253Z,1761577809.253 [DAT](INFO): DAT read: Rx Time:15:10:07.8442

2025-10-27T15:10:09.254Z,1761577809.254 [DAT](INFO): Rx dataTimestamp_ set to:1761577809.253362
2025-10-27T15:10:09.255Z,1761577809.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014888
2025-10-27T15:10:09.506Z,1761577809.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266222
2025-10-27T15:10:09.633Z,1761577809.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.81 m.
2025-10-27T15:10:09.636Z,1761577809.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.807419 m,
      nav range: 122.872162 m,
      bearing: 67.835807 deg,
      approach rate: -0.738427 m/s,
      LOS rate: 0.003602 deg/s,
      cmd heading: 71.514662 deg,
      new cmd heading: 71.519364 deg.

2025-10-27T15:10:09.637Z,1761577809.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248248 target range: 127.807419 and range: 128.40 m.
2025-10-27T15:10:09.761Z,1761577809.761 [DAT](INFO): DAT read: 15:10:07.8442 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 398,-0.12,-1.957, 2.801,-1.564,-2.017, PHS= 0.162,-1.421, 0.408, RAW= 157.1,   9.9, CAL= 157.0,  10.7, ROT= 353.0, -10.7

2025-10-27T15:10:09.762Z,1761577809.762 [DAT](INFO): got valid direction response:
 15:10:07.8442 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 398,-0.12,-1.957, 2.801,-1.564,-2.017, PHS= 0.162,-1.421, 0.408, RAW= 157.1,   9.9, CAL= 157.0,  10.7, ROT= 353.0, -10.7

2025-10-27T15:10:09.764Z,1761577809.764 [DAT](INFO): DAT read: Bearing 216.9, -10.9 (Local)

2025-10-27T15:10:09.764Z,1761577809.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.9, -10.9 (Local)

2025-10-27T15:10:09.765Z,1761577809.765 [DAT](INFO): DAT read: Range 11 to 50 : 125.4 m  (Round-trip  167.3 ms) speed  0.4 m/s

2025-10-27T15:10:09.766Z,1761577809.766 [DAT](INFO): DAT read: user:983>

2025-10-27T15:10:09.767Z,1761577809.767 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:09.768Z,1761577809.768 [DAT](INFO): direction in FSK: [0.975289,-0.119750,0.185667]
2025-10-27T15:10:09.769Z,1761577809.769 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:09.780Z,1761577809.780 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:09.780Z,1761577809.780 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:09.781Z,1761577809.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:09.979Z,1761577809.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316283,-0.938540,-0.138232],[0.947732,0.306140,0.089900],[-0.042056,-0.159441,0.986311]]
2025-10-27T15:10:10.008Z,1761577810.008 [DAT](INFO): DAT read: Tx time:15:10:08.9727

2025-10-27T15:10:10.008Z,1761577810.008 [DAT](INFO): Ping request sent.
2025-10-27T15:10:10.009Z,1761577810.009 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:10.009Z,1761577810.009 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:10.009Z,1761577810.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-10-27T15:10:10.018Z,1761577810.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.400002 m,
      deltaT: 3.528125 s,
      deltaX: -2.999992 m,
      approachRate: -0.850308 m/s,
      rangeRepo size: 4

2025-10-27T15:10:10.020Z,1761577810.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.821060 m,
      bearing: 66.394955 deg,
      lat: 36.779259 deg,
      lon: -121.859520 deg,
      deltaT: 3.528125 s,
      deltaX: -2.986359 m,
      approachRate: -0.846444 m/s,
      posRepo size: 4

2025-10-27T15:10:10.021Z,1761577810.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.82 m.
2025-10-27T15:10:10.023Z,1761577810.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.821060 m,
      nav range: 122.593452 m,
      bearing: 67.837278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003602 deg/s,
      cmd heading: 71.519362 deg,
      new cmd heading: 71.523511 deg.

2025-10-27T15:10:10.024Z,1761577810.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248321 target range: 124.821060 and range: 125.40 m.
2025-10-27T15:10:10.262Z,1761577810.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252989
2025-10-27T15:10:10.381Z,1761577810.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317369,-0.938318,-0.137243],[0.947326,0.307140,0.090763],[-0.043012,-0.158820,0.986370]]
2025-10-27T15:10:10.400Z,1761577810.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.82 m.
2025-10-27T15:10:10.403Z,1761577810.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.821060 m,
      nav range: 122.304596 m,
      bearing: 67.838967 deg,
      approach rate: -0.753473 m/s,
      LOS rate: 0.004418 deg/s,
      cmd heading: 71.523514 deg,
      new cmd heading: 71.528595 deg.

2025-10-27T15:10:10.406Z,1761577810.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248410 target range: 124.821060 and range: 125.40 m.
2025-10-27T15:10:10.513Z,1761577810.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504107
2025-10-27T15:10:10.773Z,1761577810.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.764202
2025-10-27T15:10:10.791Z,1761577810.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318087,-0.938280,-0.135834],[0.947045,0.307835,0.091342],[-0.043890,-0.157696,0.986512]]
2025-10-27T15:10:10.844Z,1761577810.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.82 m.
2025-10-27T15:10:10.851Z,1761577810.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.821060 m,
      nav range: 121.989128 m,
      bearing: 67.841168 deg,
      approach rate: -0.710742 m/s,
      LOS rate: 0.004971 deg/s,
      cmd heading: 71.528596 deg,
      new cmd heading: 71.535215 deg.

2025-10-27T15:10:10.852Z,1761577810.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248525 target range: 124.821060 and range: 125.40 m.
2025-10-27T15:10:11.016Z,1761577811.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007249
2025-10-27T15:10:11.186Z,1761577811.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318879,-0.938110,-0.135154],[0.946729,0.308504,0.092352],[-0.044941,-0.157404,0.986511]]
2025-10-27T15:10:11.210Z,1761577811.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:11.232Z,1761577811.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.82 m.
2025-10-27T15:10:11.243Z,1761577811.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.821060 m,
      nav range: 121.705139 m,
      bearing: 67.843274 deg,
      approach rate: -0.731996 m/s,
      LOS rate: 0.005440 deg/s,
      cmd heading: 71.535214 deg,
      new cmd heading: 71.541546 deg.

2025-10-27T15:10:11.244Z,1761577811.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248636 target range: 124.821060 and range: 125.40 m.
2025-10-27T15:10:11.268Z,1761577811.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259606
2025-10-27T15:10:11.520Z,1761577811.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511419
2025-10-27T15:10:11.660Z,1761577811.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.82 m.
2025-10-27T15:10:11.663Z,1761577811.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.821060 m,
      nav range: 121.379364 m,
      bearing: 67.845267 deg,
      approach rate: -0.761468 m/s,
      LOS rate: 0.004671 deg/s,
      cmd heading: 71.541546 deg,
      new cmd heading: 71.547541 deg.

2025-10-27T15:10:11.664Z,1761577811.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248740 target range: 124.821060 and range: 125.40 m.
2025-10-27T15:10:11.772Z,1761577811.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763555
2025-10-27T15:10:11.994Z,1761577811.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321331,-0.937630,-0.132651],[0.945778,0.310748,0.094543],[-0.047426,-0.155838,0.986643]]
2025-10-27T15:10:12.012Z,1761577812.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.82 m.
2025-10-27T15:10:12.015Z,1761577812.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.821060 m,
      nav range: 121.122093 m,
      bearing: 67.847174 deg,
      approach rate: -0.730105 m/s,
      LOS rate: 0.005425 deg/s,
      cmd heading: 71.547543 deg,
      new cmd heading: 71.553278 deg.

2025-10-27T15:10:12.016Z,1761577812.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248840 target range: 124.821060 and range: 125.40 m.
2025-10-27T15:10:12.024Z,1761577812.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015363
2025-10-27T15:10:12.276Z,1761577812.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267435
2025-10-27T15:10:12.400Z,1761577812.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322321,-0.937354,-0.132202],[0.945385,0.311582,0.095725],[-0.048536,-0.155836,0.986590]]
2025-10-27T15:10:12.440Z,1761577812.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.82 m.
2025-10-27T15:10:12.443Z,1761577812.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.821060 m,
      nav range: 120.815788 m,
      bearing: 67.849611 deg,
      approach rate: -0.715798 m/s,
      LOS rate: 0.005708 deg/s,
      cmd heading: 71.553280 deg,
      new cmd heading: 71.560608 deg.

2025-10-27T15:10:12.444Z,1761577812.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248968 target range: 124.821060 and range: 125.40 m.
2025-10-27T15:10:12.528Z,1761577812.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519363
2025-10-27T15:10:12.780Z,1761577812.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771672
2025-10-27T15:10:12.859Z,1761577812.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.82 m.
2025-10-27T15:10:12.862Z,1761577812.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.821060 m,
      nav range: 120.498489 m,
      bearing: 67.849337 deg,
      approach rate: -0.757895 m/s,
      LOS rate: -0.000655 deg/s,
      cmd heading: 71.560609 deg,
      new cmd heading: 71.559786 deg.

2025-10-27T15:10:12.879Z,1761577812.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248954 target range: 124.821060 and range: 125.40 m.
2025-10-27T15:10:13.032Z,1761577813.032 [DAT](INFO): DAT read: Rx Time:15:10:11.5402

2025-10-27T15:10:13.032Z,1761577813.032 [DAT](INFO): Rx dataTimestamp_ set to:1761577813.032170
2025-10-27T15:10:13.033Z,1761577813.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024428
2025-10-27T15:10:13.207Z,1761577813.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324458,-0.936601,-0.132306],[0.944559,0.313368,0.098021],[-0.050346,-0.156775,0.986350]]
2025-10-27T15:10:13.224Z,1761577813.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:13.226Z,1761577813.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.82 m.
2025-10-27T15:10:13.229Z,1761577813.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.821060 m,
      nav range: 120.224609 m,
      bearing: 67.849396 deg,
      approach rate: -0.746326 m/s,
      LOS rate: 0.000162 deg/s,
      cmd heading: 71.559789 deg,
      new cmd heading: 71.559968 deg.

2025-10-27T15:10:13.230Z,1761577813.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248957 target range: 124.821060 and range: 125.40 m.
2025-10-27T15:10:13.284Z,1761577813.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275473
2025-10-27T15:10:13.542Z,1761577813.542 [DAT](INFO): DAT read: 15:10:11.5402 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 406,-0.29, 1.933, 0.339, 2.317, 1.914, PHS= 0.122,-1.529, 0.359, RAW= 156.6,  11.8, CAL= 156.8,  13.1, ROT= 353.2, -13.1

2025-10-27T15:10:13.544Z,1761577813.544 [DAT](INFO): got valid direction response:
 15:10:11.5402 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 406,-0.29, 1.933, 0.339, 2.317, 1.914, PHS= 0.122,-1.529, 0.359, RAW= 156.6,  11.8, CAL= 156.8,  13.1, ROT= 353.2, -13.1

2025-10-27T15:10:13.548Z,1761577813.548 [DAT](INFO): DAT read: Bearing 219.0, -11.3 (Local)

2025-10-27T15:10:13.548Z,1761577813.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.0, -11.3 (Local)

2025-10-27T15:10:13.550Z,1761577813.550 [DAT](INFO): DAT read: Range 11 to 50 : 122.4 m  (Round-trip  163.3 ms) speed  0.9 m/s

2025-10-27T15:10:13.577Z,1761577813.577 [DAT](INFO): DAT read: user:984>

2025-10-27T15:10:13.584Z,1761577813.584 [DAT](INFO): DAT read: Tx time:15:10:12.6727

2025-10-27T15:10:13.585Z,1761577813.585 [DAT](INFO): Ping request sent.
2025-10-27T15:10:13.585Z,1761577813.585 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:13.586Z,1761577813.586 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:13.594Z,1761577813.594 [DAT](INFO): direction in FSK: [0.967125,-0.115322,0.226651]
2025-10-27T15:10:13.611Z,1761577813.611 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:13.612Z,1761577813.612 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:13.633Z,1761577813.633 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:13.634Z,1761577813.634 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:13.669Z,1761577813.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325554,-0.936164,-0.132708],[0.944131,0.314242,0.099342],[-0.051298,-0.157635,0.986164]]
2025-10-27T15:10:13.776Z,1761577813.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 122.400002 m,
      deltaT: 3.780285 s,
      deltaX: -3.000000 m,
      approachRate: -0.793591 m/s,
      rangeRepo size: 4

2025-10-27T15:10:13.778Z,1761577813.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.834831 m,
      bearing: 66.410200 deg,
      lat: 36.779267 deg,
      lon: -121.859520 deg,
      deltaT: 3.780285 s,
      deltaX: -2.986229 m,
      approachRate: -0.789948 m/s,
      posRepo size: 4

2025-10-27T15:10:13.783Z,1761577813.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-10-27T15:10:13.786Z,1761577813.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.834831 m,
      nav range: 120.131897 m,
      bearing: 67.476351 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000162 deg/s,
      cmd heading: 71.559967 deg,
      new cmd heading: 71.560234 deg.

2025-10-27T15:10:13.795Z,1761577813.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248962 target range: 121.834831 and range: 122.40 m.
2025-10-27T15:10:14.103Z,1761577814.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326469,-0.935717,-0.133610],[0.943783,0.314946,0.100410],[-0.051876,-0.158880,0.985934]]
2025-10-27T15:10:14.122Z,1761577814.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-10-27T15:10:14.125Z,1761577814.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.834831 m,
      nav range: 119.850456 m,
      bearing: 67.472242 deg,
      approach rate: -0.812790 m/s,
      LOS rate: -0.011895 deg/s,
      cmd heading: 71.560233 deg,
      new cmd heading: 71.547877 deg.

2025-10-27T15:10:14.126Z,1761577814.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248746 target range: 121.834831 and range: 122.40 m.
2025-10-27T15:10:14.502Z,1761577814.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326813,-0.935507,-0.134234],[0.943647,0.315164,0.101007],[-0.052187,-0.159680,0.985788]]
2025-10-27T15:10:14.534Z,1761577814.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-10-27T15:10:14.537Z,1761577814.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.834831 m,
      nav range: 119.532730 m,
      bearing: 67.467633 deg,
      approach rate: -0.770845 m/s,
      LOS rate: -0.011210 deg/s,
      cmd heading: 71.547878 deg,
      new cmd heading: 71.534016 deg.

2025-10-27T15:10:14.538Z,1761577814.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248504 target range: 121.834831 and range: 122.40 m.
2025-10-27T15:10:14.971Z,1761577814.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-10-27T15:10:14.974Z,1761577814.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.834831 m,
      nav range: 119.187294 m,
      bearing: 67.458386 deg,
      approach rate: -0.790294 m/s,
      LOS rate: -0.021219 deg/s,
      cmd heading: 71.534019 deg,
      new cmd heading: 71.506195 deg.

2025-10-27T15:10:14.976Z,1761577814.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248019 target range: 121.834831 and range: 122.40 m.
2025-10-27T15:10:15.311Z,1761577815.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326512,-0.935397,-0.135732],[0.943733,0.314649,0.101808],[-0.052523,-0.161336,0.985501]]
2025-10-27T15:10:15.343Z,1761577815.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:15.345Z,1761577815.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-10-27T15:10:15.349Z,1761577815.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.834831 m,
      nav range: 118.904449 m,
      bearing: 67.450727 deg,
      approach rate: -0.755683 m/s,
      LOS rate: -0.020509 deg/s,
      cmd heading: 71.506193 deg,
      new cmd heading: 71.483164 deg.

2025-10-27T15:10:15.350Z,1761577815.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247617 target range: 121.834831 and range: 122.40 m.
2025-10-27T15:10:15.552Z,1761577815.552 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:15.552Z,1761577815.552 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:15.552Z,1761577815.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:15.715Z,1761577815.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326331,-0.935268,-0.137043],[0.943794,0.314326,0.102229],[-0.052536,-0.162702,0.985276]]
2025-10-27T15:10:15.779Z,1761577815.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-10-27T15:10:15.782Z,1761577815.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.834831 m,
      nav range: 118.547585 m,
      bearing: 67.438716 deg,
      approach rate: -0.823125 m/s,
      LOS rate: -0.027788 deg/s,
      cmd heading: 71.483162 deg,
      new cmd heading: 71.447019 deg.

2025-10-27T15:10:15.783Z,1761577815.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246986 target range: 121.834831 and range: 122.40 m.
2025-10-27T15:10:15.817Z,1761577815.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231939
2025-10-27T15:10:16.068Z,1761577816.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482941
2025-10-27T15:10:16.151Z,1761577816.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-10-27T15:10:16.154Z,1761577816.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.834831 m,
      nav range: 118.252403 m,
      bearing: 67.428726 deg,
      approach rate: -0.793641 m/s,
      LOS rate: -0.026927 deg/s,
      cmd heading: 71.447016 deg,
      new cmd heading: 71.416971 deg.

2025-10-27T15:10:16.155Z,1761577816.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246461 target range: 121.834831 and range: 122.40 m.
2025-10-27T15:10:16.320Z,1761577816.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734972
2025-10-27T15:10:16.522Z,1761577816.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324769,-0.935798,-0.137141],[0.944351,0.312842,0.101641],[-0.052212,-0.162519,0.985323]]
2025-10-27T15:10:16.557Z,1761577816.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-10-27T15:10:16.560Z,1761577816.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.834831 m,
      nav range: 117.943550 m,
      bearing: 67.417969 deg,
      approach rate: -0.761367 m/s,
      LOS rate: -0.026587 deg/s,
      cmd heading: 71.416970 deg,
      new cmd heading: 71.384615 deg.

2025-10-27T15:10:16.561Z,1761577816.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245897 target range: 121.834831 and range: 122.40 m.
2025-10-27T15:10:16.575Z,1761577816.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989595
2025-10-27T15:10:16.824Z,1761577816.824 [DAT](INFO): DAT read: Rx Time:15:10:15.2365

2025-10-27T15:10:16.824Z,1761577816.824 [DAT](INFO): Rx dataTimestamp_ set to:1761577816.824179
2025-10-27T15:10:16.825Z,1761577816.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240097
2025-10-27T15:10:16.933Z,1761577816.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324013,-0.936199,-0.136186],[0.944604,0.312183,0.101319],[-0.052340,-0.161470,0.985489]]
2025-10-27T15:10:16.990Z,1761577816.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-10-27T15:10:16.997Z,1761577816.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.834831 m,
      nav range: 117.587944 m,
      bearing: 67.402679 deg,
      approach rate: -0.820231 m/s,
      LOS rate: -0.035374 deg/s,
      cmd heading: 71.384616 deg,
      new cmd heading: 71.338607 deg.

2025-10-27T15:10:16.998Z,1761577816.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245094 target range: 121.834831 and range: 122.40 m.
2025-10-27T15:10:17.076Z,1761577817.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491020
2025-10-27T15:10:17.334Z,1761577817.334 [DAT](INFO): DAT read: 15:10:15.2365 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 399, 0.06,-1.113,-2.668,-0.724,-1.183, PHS= 0.172,-1.440, 0.415, RAW= 156.9,   9.8, CAL= 156.8,  10.6, ROT= 353.2, -10.6

2025-10-27T15:10:17.335Z,1761577817.335 [DAT](INFO): got valid direction response:
 15:10:15.2365 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 399, 0.06,-1.113,-2.668,-0.724,-1.183, PHS= 0.172,-1.440, 0.415, RAW= 156.9,   9.8, CAL= 156.8,  10.6, ROT= 353.2, -10.6

2025-10-27T15:10:17.336Z,1761577817.336 [DAT](INFO): DAT read: Bearing 215.9, -11.5 (Local)

2025-10-27T15:10:17.336Z,1761577817.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.9, -11.5 (Local)

2025-10-27T15:10:17.338Z,1761577817.338 [DAT](INFO): DAT read: Range 11 to 50 : 119.7 m  (Round-trip  159.6 ms) speed  0.4 m/s

2025-10-27T15:10:17.338Z,1761577817.338 [DAT](INFO): DAT read: user:985>

2025-10-27T15:10:17.343Z,1761577817.343 [DAT](INFO): DAT read: Tx time:15:10:16.3227

2025-10-27T15:10:17.344Z,1761577817.344 [DAT](INFO): Ping request sent.
2025-10-27T15:10:17.344Z,1761577817.344 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:17.344Z,1761577817.344 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:17.345Z,1761577817.345 [DAT](INFO): direction in FSK: [0.976021,-0.116383,0.183951]
2025-10-27T15:10:17.345Z,1761577817.345 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:17.346Z,1761577817.346 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:17.349Z,1761577817.349 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:17.349Z,1761577817.349 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:17.358Z,1761577817.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323009,-0.936565,-0.136054],[0.944956,0.311241,0.100930],[-0.052182,-0.161167,0.985547]]
2025-10-27T15:10:17.468Z,1761577817.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.699997 m,
      deltaT: 3.791817 s,
      deltaX: -2.700005 m,
      approachRate: -0.712061 m/s,
      rangeRepo size: 4

2025-10-27T15:10:17.470Z,1761577817.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.148216 m,
      bearing: 66.187135 deg,
      lat: 36.779283 deg,
      lon: -121.859525 deg,
      deltaT: 3.791817 s,
      deltaX: -2.686615 m,
      approachRate: -0.708530 m/s,
      posRepo size: 4

2025-10-27T15:10:17.470Z,1761577817.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-10-27T15:10:17.485Z,1761577817.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.148216 m,
      nav range: 117.548126 m,
      bearing: 66.484074 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035374 deg/s,
      cmd heading: 71.338607 deg,
      new cmd heading: 71.288891 deg.

2025-10-27T15:10:17.486Z,1761577817.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.244226 target range: 119.148216 and range: 119.70 m.
2025-10-27T15:10:17.784Z,1761577817.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321428,-0.937131,-0.135899],[0.945517,0.309779,0.100169],[-0.051773,-0.160692,0.985646]]
2025-10-27T15:10:17.826Z,1761577817.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:17.828Z,1761577817.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-10-27T15:10:17.832Z,1761577817.832 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:17.832Z,1761577817.832 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:17.832Z,1761577817.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:17.834Z,1761577817.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.148216 m,
      nav range: 117.211533 m,
      bearing: 66.467985 deg,
      approach rate: -0.910690 m/s,
      LOS rate: -0.043657 deg/s,
      cmd heading: 71.288891 deg,
      new cmd heading: 71.240483 deg.

2025-10-27T15:10:17.836Z,1761577817.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.243381 target range: 119.148216 and range: 119.70 m.
2025-10-27T15:10:18.085Z,1761577818.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741162
2025-10-27T15:10:18.186Z,1761577818.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319666,-0.937899,-0.134753],[0.946128,0.308214,0.099225],[-0.051530,-0.159213,0.985898]]
2025-10-27T15:10:18.204Z,1761577818.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-10-27T15:10:18.207Z,1761577818.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.148216 m,
      nav range: 116.900391 m,
      bearing: 66.452736 deg,
      approach rate: -0.827061 m/s,
      LOS rate: -0.040641 deg/s,
      cmd heading: 71.240485 deg,
      new cmd heading: 71.194618 deg.

2025-10-27T15:10:18.208Z,1761577818.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.242581 target range: 119.148216 and range: 119.70 m.
2025-10-27T15:10:18.336Z,1761577818.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992095
2025-10-27T15:10:18.588Z,1761577818.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244114
2025-10-27T15:10:18.594Z,1761577818.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318442,-0.938287,-0.134952],[0.946549,0.307019,0.098914],[-0.051377,-0.159237,0.985903]]
2025-10-27T15:10:18.613Z,1761577818.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-10-27T15:10:18.616Z,1761577818.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.148216 m,
      nav range: 116.563347 m,
      bearing: 66.435910 deg,
      approach rate: -0.824871 m/s,
      LOS rate: -0.041300 deg/s,
      cmd heading: 71.194620 deg,
      new cmd heading: 71.143994 deg.

2025-10-27T15:10:18.617Z,1761577818.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.241697 target range: 119.148216 and range: 119.70 m.
2025-10-27T15:10:18.840Z,1761577818.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496371
2025-10-27T15:10:19.000Z,1761577819.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317131,-0.938706,-0.135124],[0.946998,0.305745,0.098564],[-0.051210,-0.159220,0.985914]]
2025-10-27T15:10:19.049Z,1761577819.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-10-27T15:10:19.052Z,1761577819.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.148216 m,
      nav range: 116.216370 m,
      bearing: 66.421912 deg,
      approach rate: -0.795059 m/s,
      LOS rate: -0.032170 deg/s,
      cmd heading: 71.143995 deg,
      new cmd heading: 71.101876 deg.

2025-10-27T15:10:19.053Z,1761577819.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240962 target range: 119.148216 and range: 119.70 m.
2025-10-27T15:10:19.093Z,1761577819.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748633
2025-10-27T15:10:19.344Z,1761577819.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999964
2025-10-27T15:10:19.412Z,1761577819.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316166,-0.938984,-0.135452],[0.947328,0.304787,0.098360],[-0.051074,-0.159415,0.985890]]
2025-10-27T15:10:19.435Z,1761577819.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-10-27T15:10:19.438Z,1761577819.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.148216 m,
      nav range: 115.910316 m,
      bearing: 66.409340 deg,
      approach rate: -0.793805 m/s,
      LOS rate: -0.032693 deg/s,
      cmd heading: 71.101873 deg,
      new cmd heading: 71.064059 deg.

2025-10-27T15:10:19.439Z,1761577819.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240302 target range: 119.148216 and range: 119.70 m.
2025-10-27T15:10:19.596Z,1761577819.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251984
2025-10-27T15:10:19.802Z,1761577819.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315349,-0.939197,-0.135883],[0.947598,0.303934,0.098394],[-0.051111,-0.159791,0.985827]]
2025-10-27T15:10:19.848Z,1761577819.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504075
2025-10-27T15:10:19.863Z,1761577819.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:19.869Z,1761577819.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-10-27T15:10:19.876Z,1761577819.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.148216 m,
      nav range: 115.598053 m,
      bearing: 66.401459 deg,
      approach rate: -0.719559 m/s,
      LOS rate: -0.018210 deg/s,
      cmd heading: 71.064061 deg,
      new cmd heading: 71.040354 deg.

2025-10-27T15:10:19.877Z,1761577819.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.239888 target range: 119.148216 and range: 119.70 m.
2025-10-27T15:10:20.100Z,1761577820.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755964
2025-10-27T15:10:20.210Z,1761577820.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315175,-0.939111,-0.136876],[0.947652,0.303645,0.098769],[-0.051193,-0.160840,0.985652]]
2025-10-27T15:10:20.232Z,1761577820.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-10-27T15:10:20.235Z,1761577820.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.148216 m,
      nav range: 115.296097 m,
      bearing: 66.393774 deg,
      approach rate: -0.832037 m/s,
      LOS rate: -0.021232 deg/s,
      cmd heading: 71.040354 deg,
      new cmd heading: 71.017238 deg.

2025-10-27T15:10:20.236Z,1761577820.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.239485 target range: 119.148216 and range: 119.70 m.
2025-10-27T15:10:20.352Z,1761577820.352 [DAT](INFO): DAT read: Rx Time:15:10:18.8826

2025-10-27T15:10:20.353Z,1761577820.353 [DAT](INFO): Rx dataTimestamp_ set to:1761577820.352422
2025-10-27T15:10:20.353Z,1761577820.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009416
2025-10-27T15:10:20.604Z,1761577820.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260176
2025-10-27T15:10:20.611Z,1761577820.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314944,-0.939360,-0.135692],[0.947711,0.303487,0.098689],[-0.051524,-0.159679,0.985824]]
2025-10-27T15:10:20.630Z,1761577820.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-10-27T15:10:20.633Z,1761577820.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.148216 m,
      nav range: 114.985199 m,
      bearing: 66.385777 deg,
      approach rate: -0.780554 m/s,
      LOS rate: -0.020131 deg/s,
      cmd heading: 71.017240 deg,
      new cmd heading: 70.993186 deg.

2025-10-27T15:10:20.634Z,1761577820.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.239065 target range: 119.148216 and range: 119.70 m.
2025-10-27T15:10:20.864Z,1761577820.864 [DAT](INFO): DAT read: 15:10:18.8826 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 408,-0.33,-1.987, 2.727,-1.618,-2.074, PHS= 0.189,-1.437, 0.412, RAW= 156.3,   9.6, CAL= 156.1,  10.3, ROT= 353.9, -10.3

2025-10-27T15:10:20.866Z,1761577820.866 [DAT](INFO): got valid direction response:
 15:10:18.8826 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 408,-0.33,-1.987, 2.727,-1.618,-2.074, PHS= 0.189,-1.437, 0.412, RAW= 156.3,   9.6, CAL= 156.1,  10.3, ROT= 353.9, -10.3

2025-10-27T15:10:20.867Z,1761577820.867 [DAT](INFO): DAT read: Bearing 214.8, -11.0 (Local)

2025-10-27T15:10:20.867Z,1761577820.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.8, -11.0 (Local)

2025-10-27T15:10:20.869Z,1761577820.869 [DAT](INFO): DAT read: Range 11 to 50 : 116.7 m  (Round-trip  155.7 ms) speed  0.5 m/s

2025-10-27T15:10:20.870Z,1761577820.870 [DAT](INFO): DAT read: user:986>

2025-10-27T15:10:20.872Z,1761577820.872 [DAT](INFO): DAT read: Tx time:15:10:19.9727

2025-10-27T15:10:20.872Z,1761577820.872 [DAT](INFO): Ping request sent.
2025-10-27T15:10:20.873Z,1761577820.873 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:20.873Z,1761577820.873 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:20.874Z,1761577820.874 [DAT](INFO): direction in FSK: [0.978314,-0.104552,0.178802]
2025-10-27T15:10:20.874Z,1761577820.874 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:20.880Z,1761577820.880 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:20.883Z,1761577820.883 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:20.883Z,1761577820.883 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:21.016Z,1761577821.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315090,-0.939283,-0.135886],[0.947637,0.303532,0.099263],[-0.051991,-0.160047,0.985739]]
2025-10-27T15:10:21.136Z,1761577821.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.699997 m,
      deltaT: 3.529937 s,
      deltaX: -3.000000 m,
      approachRate: -0.849874 m/s,
      rangeRepo size: 4

2025-10-27T15:10:21.138Z,1761577821.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.162094 m,
      bearing: 67.289015 deg,
      lat: 36.779283 deg,
      lon: -121.859525 deg,
      deltaT: 3.529937 s,
      deltaX: -2.986122 m,
      approachRate: -0.845942 m/s,
      posRepo size: 4

2025-10-27T15:10:21.147Z,1761577821.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:21.150Z,1761577821.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 114.654099 m,
      bearing: 66.381560 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020131 deg/s,
      cmd heading: 70.993184 deg,
      new cmd heading: 70.962656 deg.

2025-10-27T15:10:21.159Z,1761577821.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238532 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:21.433Z,1761577821.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315553,-0.939081,-0.136210],[0.947458,0.303877,0.099910],[-0.052433,-0.160580,0.985629]]
2025-10-27T15:10:21.451Z,1761577821.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:21.454Z,1761577821.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 114.393623 m,
      bearing: 66.378292 deg,
      approach rate: -0.826407 m/s,
      LOS rate: -0.010393 deg/s,
      cmd heading: 70.962653 deg,
      new cmd heading: 70.952826 deg.

2025-10-27T15:10:21.455Z,1761577821.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238360 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:21.831Z,1761577821.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316627,-0.938664,-0.136590],[0.947064,0.304778,0.100900],[-0.053082,-0.161308,0.985476]]
2025-10-27T15:10:21.874Z,1761577821.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:21.876Z,1761577821.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:21.880Z,1761577821.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 114.098053 m,
      bearing: 66.379294 deg,
      approach rate: -0.694595 m/s,
      LOS rate: 0.002360 deg/s,
      cmd heading: 70.952825 deg,
      new cmd heading: 70.955838 deg.

2025-10-27T15:10:21.880Z,1761577821.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238413 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:22.117Z,1761577822.117 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:22.117Z,1761577822.117 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:22.118Z,1761577822.118 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:22.233Z,1761577822.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318180,-0.938024,-0.137376],[0.946503,0.306094,0.102169],[-0.053787,-0.162535,0.985236]]
2025-10-27T15:10:22.253Z,1761577822.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:22.284Z,1761577822.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 113.836945 m,
      bearing: 66.380399 deg,
      approach rate: -0.694138 m/s,
      LOS rate: 0.002945 deg/s,
      cmd heading: 70.955837 deg,
      new cmd heading: 70.959161 deg.

2025-10-27T15:10:22.285Z,1761577822.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238471 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:22.368Z,1761577822.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495342
2025-10-27T15:10:22.620Z,1761577822.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747273
2025-10-27T15:10:22.638Z,1761577822.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319989,-0.937272,-0.138307],[0.945853,0.307642,0.103527],[-0.054483,-0.163946,0.984964]]
2025-10-27T15:10:22.669Z,1761577822.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:22.672Z,1761577822.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 113.546677 m,
      bearing: 66.381914 deg,
      approach rate: -0.697585 m/s,
      LOS rate: 0.003651 deg/s,
      cmd heading: 70.959163 deg,
      new cmd heading: 70.963720 deg.

2025-10-27T15:10:22.673Z,1761577822.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238551 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:22.873Z,1761577822.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999945
2025-10-27T15:10:23.047Z,1761577823.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322252,-0.936249,-0.139971],[0.945051,0.309568,0.105105],[-0.055074,-0.166150,0.984561]]
2025-10-27T15:10:23.085Z,1761577823.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:23.104Z,1761577823.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 113.265259 m,
      bearing: 66.382489 deg,
      approach rate: -0.676037 m/s,
      LOS rate: 0.001385 deg/s,
      cmd heading: 70.963719 deg,
      new cmd heading: 70.965448 deg.

2025-10-27T15:10:23.105Z,1761577823.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238581 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:23.124Z,1761577823.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251355
2025-10-27T15:10:23.376Z,1761577823.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503360
2025-10-27T15:10:23.445Z,1761577823.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323980,-0.935568,-0.140536],[0.944418,0.311070,0.106345],[-0.055776,-0.167179,0.984348]]
2025-10-27T15:10:23.477Z,1761577823.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:23.480Z,1761577823.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 113.000351 m,
      bearing: 66.383279 deg,
      approach rate: -0.675441 m/s,
      LOS rate: 0.002018 deg/s,
      cmd heading: 70.965447 deg,
      new cmd heading: 70.967822 deg.

2025-10-27T15:10:23.481Z,1761577823.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238622 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:23.628Z,1761577823.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755281
2025-10-27T15:10:23.850Z,1761577823.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325987,-0.934785,-0.141101],[0.943690,0.312856,0.107561],[-0.056402,-0.168219,0.984135]]
2025-10-27T15:10:23.882Z,1761577823.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008937
2025-10-27T15:10:23.916Z,1761577823.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:23.918Z,1761577823.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:23.935Z,1761577823.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 112.720978 m,
      bearing: 66.383306 deg,
      approach rate: -0.633067 m/s,
      LOS rate: 0.000061 deg/s,
      cmd heading: 70.967824 deg,
      new cmd heading: 70.967905 deg.

2025-10-27T15:10:23.936Z,1761577823.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238624 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:24.132Z,1761577824.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259270
2025-10-27T15:10:24.259Z,1761577824.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327798,-0.934095,-0.141475],[0.943031,0.314489,0.108575],[-0.056927,-0.169006,0.983970]]
2025-10-27T15:10:24.289Z,1761577824.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:24.293Z,1761577824.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 112.449173 m,
      bearing: 66.383595 deg,
      approach rate: -0.732468 m/s,
      LOS rate: 0.000781 deg/s,
      cmd heading: 70.967906 deg,
      new cmd heading: 70.968776 deg.

2025-10-27T15:10:24.294Z,1761577824.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238639 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:24.386Z,1761577824.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513006
2025-10-27T15:10:24.636Z,1761577824.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763261
2025-10-27T15:10:24.668Z,1761577824.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329209,-0.933610,-0.141401],[0.942512,0.315794,0.109299],[-0.057389,-0.169254,0.983900]]
2025-10-27T15:10:24.686Z,1761577824.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:24.689Z,1761577824.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 112.176430 m,
      bearing: 66.384095 deg,
      approach rate: -0.688732 m/s,
      LOS rate: 0.001266 deg/s,
      cmd heading: 70.968773 deg,
      new cmd heading: 70.970277 deg.

2025-10-27T15:10:24.690Z,1761577824.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238665 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:24.889Z,1761577824.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016470
2025-10-27T15:10:25.118Z,1761577825.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:25.121Z,1761577825.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 111.875504 m,
      bearing: 66.381533 deg,
      approach rate: -0.696485 m/s,
      LOS rate: -0.005947 deg/s,
      cmd heading: 70.970276 deg,
      new cmd heading: 70.962568 deg.

2025-10-27T15:10:25.122Z,1761577825.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238530 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:25.140Z,1761577825.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.267434
2025-10-27T15:10:25.394Z,1761577825.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521068
2025-10-27T15:10:25.482Z,1761577825.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332865,-0.932196,-0.142168],[0.941160,0.319079,0.111386],[-0.058471,-0.170879,0.983556]]
2025-10-27T15:10:25.501Z,1761577825.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:25.504Z,1761577825.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 111.608154 m,
      bearing: 66.379771 deg,
      approach rate: -0.696915 m/s,
      LOS rate: -0.004604 deg/s,
      cmd heading: 70.962565 deg,
      new cmd heading: 70.957266 deg.

2025-10-27T15:10:25.505Z,1761577825.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238438 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:25.645Z,1761577825.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771923
2025-10-27T15:10:25.732Z,1761577825.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:10:25.897Z,1761577825.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024650
2025-10-27T15:10:25.920Z,1761577825.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334027,-0.931782,-0.142157],[0.940717,0.320125,0.112121],[-0.058964,-0.171181,0.983474]]
2025-10-27T15:10:26.002Z,1761577826.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:26.004Z,1761577826.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:26.008Z,1761577826.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 111.245743 m,
      bearing: 66.372568 deg,
      approach rate: -0.720189 m/s,
      LOS rate: -0.014361 deg/s,
      cmd heading: 70.957264 deg,
      new cmd heading: 70.935584 deg.

2025-10-27T15:10:26.008Z,1761577826.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238060 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:26.148Z,1761577826.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275208
2025-10-27T15:10:26.320Z,1761577826.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334509,-0.931813,-0.140813],[0.940526,0.320699,0.112085],[-0.059284,-0.169931,0.983671]]
2025-10-27T15:10:26.343Z,1761577826.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:26.346Z,1761577826.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 110.999886 m,
      bearing: 66.367727 deg,
      approach rate: -0.725686 m/s,
      LOS rate: -0.014321 deg/s,
      cmd heading: 70.935585 deg,
      new cmd heading: 70.921030 deg.

2025-10-27T15:10:26.376Z,1761577826.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237805 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:26.402Z,1761577826.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528857
2025-10-27T15:10:26.652Z,1761577826.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.779788
2025-10-27T15:10:26.735Z,1761577826.735 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:10:26.852Z,1761577826.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:26.859Z,1761577826.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 110.670235 m,
      bearing: 66.361202 deg,
      approach rate: -0.647483 m/s,
      LOS rate: -0.012854 deg/s,
      cmd heading: 70.921030 deg,
      new cmd heading: 70.901397 deg.

2025-10-27T15:10:26.860Z,1761577826.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237463 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:26.905Z,1761577826.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.032104
2025-10-27T15:10:27.157Z,1761577827.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284192
2025-10-27T15:10:27.213Z,1761577827.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333866,-0.932770,-0.135917],[0.940720,0.320560,0.110846],[-0.059825,-0.164868,0.984500]]
2025-10-27T15:10:27.272Z,1761577827.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:27.275Z,1761577827.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 110.329025 m,
      bearing: 66.353843 deg,
      approach rate: -0.813153 m/s,
      LOS rate: -0.017590 deg/s,
      cmd heading: 70.901400 deg,
      new cmd heading: 70.879257 deg.

2025-10-27T15:10:27.276Z,1761577827.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237076 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:27.408Z,1761577827.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.535498
2025-10-27T15:10:27.606Z,1761577827.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333330,-0.932987,-0.135745],[0.940910,0.320054,0.110700],[-0.059836,-0.164623,0.984540]]
2025-10-27T15:10:27.636Z,1761577827.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:27.638Z,1761577827.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 110.034599 m,
      bearing: 66.347370 deg,
      approach rate: -0.809180 m/s,
      LOS rate: -0.017838 deg/s,
      cmd heading: 70.879257 deg,
      new cmd heading: 70.859786 deg.

2025-10-27T15:10:27.640Z,1761577827.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236737 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:27.669Z,1761577827.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795850
2025-10-27T15:10:27.920Z,1761577827.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047308
2025-10-27T15:10:28.010Z,1761577828.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332806,-0.933314,-0.134776],[0.941095,0.319658,0.110266],[-0.059831,-0.163534,0.984722]]
2025-10-27T15:10:28.068Z,1761577828.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:28.070Z,1761577828.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:28.077Z,1761577828.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 109.709885 m,
      bearing: 66.334457 deg,
      approach rate: -0.747421 m/s,
      LOS rate: -0.029811 deg/s,
      cmd heading: 70.859784 deg,
      new cmd heading: 70.820930 deg.

2025-10-27T15:10:28.078Z,1761577828.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236058 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:28.173Z,1761577828.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299961
2025-10-27T15:10:28.418Z,1761577828.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331637,-0.933826,-0.134113],[0.941525,0.318638,0.109547],[-0.059564,-0.162601,0.984892]]
2025-10-27T15:10:28.424Z,1761577828.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.551395
2025-10-27T15:10:28.438Z,1761577828.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:28.441Z,1761577828.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 109.400948 m,
      bearing: 66.321897 deg,
      approach rate: -0.840218 m/s,
      LOS rate: -0.034256 deg/s,
      cmd heading: 70.820927 deg,
      new cmd heading: 70.783140 deg.

2025-10-27T15:10:28.442Z,1761577828.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.235399 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:28.676Z,1761577828.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803288
2025-10-27T15:10:28.861Z,1761577828.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330273,-0.934461,-0.133049],[0.942015,0.317458,0.108758],[-0.059393,-0.161254,0.985124]]
2025-10-27T15:10:28.922Z,1761577828.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:28.925Z,1761577828.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 109.008324 m,
      bearing: 66.309701 deg,
      approach rate: -0.810593 m/s,
      LOS rate: -0.025271 deg/s,
      cmd heading: 70.783142 deg,
      new cmd heading: 70.746421 deg.

2025-10-27T15:10:28.926Z,1761577828.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234758 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:28.928Z,1761577828.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055485
2025-10-27T15:10:29.180Z,1761577829.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307338
2025-10-27T15:10:29.227Z,1761577829.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329542,-0.934751,-0.132826],[0.942277,0.316784,0.108456],[-0.059302,-0.160899,0.985188]]
2025-10-27T15:10:29.246Z,1761577829.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:29.250Z,1761577829.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 108.746475 m,
      bearing: 66.301410 deg,
      approach rate: -0.808806 m/s,
      LOS rate: -0.025671 deg/s,
      cmd heading: 70.746423 deg,
      new cmd heading: 70.721490 deg.

2025-10-27T15:10:29.251Z,1761577829.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234323 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:29.432Z,1761577829.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559281
2025-10-27T15:10:29.625Z,1761577829.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328198,-0.935068,-0.133915],[0.942772,0.315414,0.108146],[-0.058886,-0.161745,0.985074]]
2025-10-27T15:10:29.667Z,1761577829.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:29.670Z,1761577829.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 108.418045 m,
      bearing: 66.290705 deg,
      approach rate: -0.811153 m/s,
      LOS rate: -0.026519 deg/s,
      cmd heading: 70.721493 deg,
      new cmd heading: 70.689281 deg.

2025-10-27T15:10:29.679Z,1761577829.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233761 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:29.684Z,1761577829.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811480
2025-10-27T15:10:29.936Z,1761577829.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063287
2025-10-27T15:10:30.032Z,1761577830.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326991,-0.935663,-0.132708],[0.943209,0.314421,0.107224],[-0.058599,-0.160233,0.985338]]
2025-10-27T15:10:30.073Z,1761577830.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:30.095Z,1761577830.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:30.098Z,1761577830.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 108.075127 m,
      bearing: 66.278803 deg,
      approach rate: -0.809018 m/s,
      LOS rate: -0.028168 deg/s,
      cmd heading: 70.689282 deg,
      new cmd heading: 70.653464 deg.

2025-10-27T15:10:30.103Z,1761577830.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233136 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:30.189Z,1761577830.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316617
2025-10-27T15:10:30.434Z,1761577830.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326264,-0.936145,-0.131092],[0.943472,0.313924,0.106363],[-0.058418,-0.158384,0.985648]]
2025-10-27T15:10:30.440Z,1761577830.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567425
2025-10-27T15:10:30.470Z,1761577830.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:30.473Z,1761577830.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 107.760208 m,
      bearing: 66.267672 deg,
      approach rate: -0.796861 m/s,
      LOS rate: -0.028249 deg/s,
      cmd heading: 70.653464 deg,
      new cmd heading: 70.619973 deg.

2025-10-27T15:10:30.474Z,1761577830.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232551 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:30.692Z,1761577830.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819371
2025-10-27T15:10:30.874Z,1761577830.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325654,-0.936305,-0.131460],[0.943694,0.313315,0.106181],[-0.058230,-0.158637,0.985618]]
2025-10-27T15:10:30.944Z,1761577830.944 [DAT](INFO): Reached modem response timeout
2025-10-27T15:10:30.944Z,1761577830.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:10:30.944Z,1761577830.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:30.961Z,1761577830.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:30.984Z,1761577830.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 107.371704 m,
      bearing: 66.257926 deg,
      approach rate: -0.791405 m/s,
      LOS rate: -0.019923 deg/s,
      cmd heading: 70.619976 deg,
      new cmd heading: 70.590634 deg.

2025-10-27T15:10:30.985Z,1761577830.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232039 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:31.196Z,1761577831.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:10:31.303Z,1761577831.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325315,-0.936334,-0.132093],[0.943818,0.312931,0.106214],[-0.058116,-0.159225,0.985530]]
2025-10-27T15:10:31.346Z,1761577831.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:31.349Z,1761577831.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 107.072166 m,
      bearing: 66.250308 deg,
      approach rate: -0.778758 m/s,
      LOS rate: -0.019862 deg/s,
      cmd heading: 70.590633 deg,
      new cmd heading: 70.567714 deg.

2025-10-27T15:10:31.350Z,1761577831.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231639 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:31.448Z,1761577831.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:10:31.700Z,1761577831.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:10:31.711Z,1761577831.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325019,-0.936440,-0.132071],[0.943928,0.312664,0.106026],[-0.057993,-0.159125,0.985554]]
2025-10-27T15:10:31.738Z,1761577831.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:31.743Z,1761577831.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 106.771057 m,
      bearing: 66.242555 deg,
      approach rate: -0.767447 m/s,
      LOS rate: -0.019817 deg/s,
      cmd heading: 70.567711 deg,
      new cmd heading: 70.544386 deg.

2025-10-27T15:10:31.745Z,1761577831.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231232 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:31.952Z,1761577831.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:10:32.110Z,1761577832.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325131,-0.936370,-0.132288],[0.943890,0.312751,0.106109],[-0.057984,-0.159365,0.985515]]
2025-10-27T15:10:32.169Z,1761577832.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:32.175Z,1761577832.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:32.178Z,1761577832.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 106.443687 m,
      bearing: 66.235818 deg,
      approach rate: -0.755575 m/s,
      LOS rate: -0.015595 deg/s,
      cmd heading: 70.544386 deg,
      new cmd heading: 70.524115 deg.

2025-10-27T15:10:32.184Z,1761577832.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230878 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:32.204Z,1761577832.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:10:32.456Z,1761577832.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:10:32.517Z,1761577832.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325409,-0.936237,-0.132550],[0.943785,0.312968,0.106401],[-0.058132,-0.159722,0.985449]]
2025-10-27T15:10:32.545Z,1761577832.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:32.548Z,1761577832.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 106.152855 m,
      bearing: 66.229846 deg,
      approach rate: -0.778178 m/s,
      LOS rate: -0.016024 deg/s,
      cmd heading: 70.524114 deg,
      new cmd heading: 70.506148 deg.

2025-10-27T15:10:32.549Z,1761577832.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230564 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:32.708Z,1761577832.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:10:32.936Z,1761577832.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326172,-0.935918,-0.132922],[0.943510,0.313643,0.106848],[-0.058311,-0.160264,0.985350]]
2025-10-27T15:10:32.960Z,1761577832.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:10:32.994Z,1761577832.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:33.001Z,1761577833.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 105.826775 m,
      bearing: 66.223610 deg,
      approach rate: -0.725871 m/s,
      LOS rate: -0.013925 deg/s,
      cmd heading: 70.506151 deg,
      new cmd heading: 70.487385 deg.

2025-10-27T15:10:33.002Z,1761577833.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230237 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:33.212Z,1761577833.212 [DAT](INFO): DAT read: Response Not Received

2025-10-27T15:10:33.212Z,1761577833.212 [DAT](INFO): response not received
2025-10-27T15:10:33.213Z,1761577833.213 [DAT](INFO): DAT read: user:987>

2025-10-27T15:10:33.213Z,1761577833.213 [DAT](ERROR): No response from remote modem.
2025-10-27T15:10:33.213Z,1761577833.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:10:33.214Z,1761577833.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:33.329Z,1761577833.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327199,-0.935472,-0.133538],[0.943135,0.314524,0.107570],[-0.058628,-0.161141,0.985188]]
2025-10-27T15:10:33.347Z,1761577833.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:33.350Z,1761577833.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 105.543434 m,
      bearing: 66.218329 deg,
      approach rate: -0.803224 m/s,
      LOS rate: -0.015012 deg/s,
      cmd heading: 70.487388 deg,
      new cmd heading: 70.471502 deg.

2025-10-27T15:10:33.351Z,1761577833.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229960 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:33.464Z,1761577833.464 [DAT](INFO): DAT read: Tx time:15:10:32.4226

2025-10-27T15:10:33.464Z,1761577833.464 [DAT](INFO): Ping request sent.
2025-10-27T15:10:33.465Z,1761577833.465 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:33.465Z,1761577833.465 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:33.466Z,1761577833.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768
2025-10-27T15:10:33.716Z,1761577833.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251119
2025-10-27T15:10:33.743Z,1761577833.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327887,-0.935175,-0.133931],[0.942879,0.315106,0.108108],[-0.058897,-0.161728,0.985076]]
2025-10-27T15:10:33.767Z,1761577833.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:33.770Z,1761577833.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 105.224739 m,
      bearing: 66.212483 deg,
      approach rate: -0.758988 m/s,
      LOS rate: -0.013965 deg/s,
      cmd heading: 70.471501 deg,
      new cmd heading: 70.453909 deg.

2025-10-27T15:10:33.787Z,1761577833.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229653 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:33.968Z,1761577833.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503844
2025-10-27T15:10:34.220Z,1761577834.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755746
2025-10-27T15:10:34.241Z,1761577834.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328639,-0.934758,-0.134997],[0.942610,0.315699,0.108722],[-0.059010,-0.162980,0.984863]]
2025-10-27T15:10:34.292Z,1761577834.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:34.294Z,1761577834.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:34.297Z,1761577834.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 104.829338 m,
      bearing: 66.206634 deg,
      approach rate: -0.750119 m/s,
      LOS rate: -0.011137 deg/s,
      cmd heading: 70.453907 deg,
      new cmd heading: 70.436295 deg.

2025-10-27T15:10:34.298Z,1761577834.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229345 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:34.472Z,1761577834.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007803
2025-10-27T15:10:34.726Z,1761577834.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260770
2025-10-27T15:10:34.777Z,1761577834.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329565,-0.934338,-0.135642],[0.942275,0.316496,0.109308],[-0.059200,-0.163837,0.984710]]
2025-10-27T15:10:34.800Z,1761577834.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:34.819Z,1761577834.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 104.452454 m,
      bearing: 66.201221 deg,
      approach rate: -0.744635 m/s,
      LOS rate: -0.010734 deg/s,
      cmd heading: 70.436298 deg,
      new cmd heading: 70.420000 deg.

2025-10-27T15:10:34.820Z,1761577834.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229061 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:34.976Z,1761577834.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511697
2025-10-27T15:10:35.233Z,1761577835.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767999
2025-10-27T15:10:35.322Z,1761577835.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:35.329Z,1761577835.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 104.058685 m,
      bearing: 66.199086 deg,
      approach rate: -0.753911 m/s,
      LOS rate: -0.004104 deg/s,
      cmd heading: 70.420002 deg,
      new cmd heading: 70.413572 deg.

2025-10-27T15:10:35.330Z,1761577835.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228949 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:35.480Z,1761577835.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015534
2025-10-27T15:10:35.687Z,1761577835.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332516,-0.932910,-0.138248],[0.941215,0.319011,0.111114],[-0.059556,-0.167068,0.984145]]
2025-10-27T15:10:35.733Z,1761577835.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268520
2025-10-27T15:10:35.757Z,1761577835.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:35.772Z,1761577835.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 103.740982 m,
      bearing: 66.197893 deg,
      approach rate: -0.731671 m/s,
      LOS rate: -0.002756 deg/s,
      cmd heading: 70.413574 deg,
      new cmd heading: 70.409984 deg.

2025-10-27T15:10:35.773Z,1761577835.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228886 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:35.984Z,1761577835.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519184
2025-10-27T15:10:36.091Z,1761577836.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333497,-0.932682,-0.137424],[0.940894,0.320138,0.110593],[-0.059153,-0.166183,0.984319]]
2025-10-27T15:10:36.146Z,1761577836.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:36.153Z,1761577836.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 103.464020 m,
      bearing: 66.197866 deg,
      approach rate: -0.711780 m/s,
      LOS rate: -0.000068 deg/s,
      cmd heading: 70.409982 deg,
      new cmd heading: 70.409903 deg.

2025-10-27T15:10:36.154Z,1761577836.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228885 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:36.236Z,1761577836.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771373
2025-10-27T15:10:36.488Z,1761577836.488 [DAT](INFO): DAT read: Rx Time:15:10:34.9666

2025-10-27T15:10:36.488Z,1761577836.488 [DAT](INFO): Rx dataTimestamp_ set to:1761577836.488091
2025-10-27T15:10:36.489Z,1761577836.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024299
2025-10-27T15:10:36.492Z,1761577836.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334336,-0.932256,-0.138268],[0.940612,0.320903,0.110772],[-0.058897,-0.167092,0.984181]]
2025-10-27T15:10:36.509Z,1761577836.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:36.511Z,1761577836.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:36.514Z,1761577836.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 103.183846 m,
      bearing: 66.197974 deg,
      approach rate: -0.767107 m/s,
      LOS rate: 0.000297 deg/s,
      cmd heading: 70.409900 deg,
      new cmd heading: 70.410225 deg.

2025-10-27T15:10:36.515Z,1761577836.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228890 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:36.741Z,1761577836.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275933
2025-10-27T15:10:36.900Z,1761577836.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335210,-0.931941,-0.138276],[0.940357,0.321916,0.109999],[-0.057999,-0.166901,0.984266]]
2025-10-27T15:10:36.940Z,1761577836.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.16 m.
2025-10-27T15:10:36.970Z,1761577836.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.162094 m,
      nav range: 102.881660 m,
      bearing: 66.198245 deg,
      approach rate: -0.706363 m/s,
      LOS rate: 0.000635 deg/s,
      cmd heading: 70.410228 deg,
      new cmd heading: 70.411043 deg.

2025-10-27T15:10:36.983Z,1761577836.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228904 target range: 116.162094 and range: 116.70 m.
2025-10-27T15:10:36.998Z,1761577836.998 [DAT](INFO): DAT read: 15:10:34.9666 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 246,-0.09,-1.278,-2.823,-0.890,-1.357, PHS= 0.181,-1.421, 0.423, RAW= 156.9,   9.5, CAL= 156.7,  10.1, ROT= 353.3, -10.1

2025-10-27T15:10:36.999Z,1761577836.999 [DAT](INFO): got valid direction response:
 15:10:34.9666 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 246,-0.09,-1.278,-2.823,-0.890,-1.357, PHS= 0.181,-1.421, 0.423, RAW= 156.9,   9.5, CAL= 156.7,  10.1, ROT= 353.3, -10.1

2025-10-27T15:10:36.000Z,1761577837.000 [DAT](INFO): DAT read: Bearing 217.8, -11.9 (Local)

2025-10-27T15:10:37.000Z,1761577837.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.8, -11.9 (Local)

2025-10-27T15:10:37.002Z,1761577837.002 [DAT](INFO): DAT read: Range 11 to 50 : 104.9 m  (Round-trip  139.9 ms) speed  0.7 m/s

2025-10-27T15:10:37.002Z,1761577837.002 [DAT](INFO): DAT read: user:988>

2025-10-27T15:10:37.004Z,1761577837.004 [DAT](INFO): DAT read: Tx time:15:10:36.0726

2025-10-27T15:10:37.004Z,1761577837.004 [DAT](INFO): Ping request sent.
2025-10-27T15:10:37.004Z,1761577837.004 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:37.005Z,1761577837.005 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:37.006Z,1761577837.006 [DAT](INFO): direction in FSK: [0.977780,-0.114863,0.175367]
2025-10-27T15:10:37.006Z,1761577837.006 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:37.006Z,1761577837.006 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:37.009Z,1761577837.009 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:37.010Z,1761577837.010 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:37.369Z,1761577837.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.900002 m,
      deltaT: 16.133882 s,
      deltaX: -11.799995 m,
      approachRate: -0.731380 m/s,
      rangeRepo size: 4

2025-10-27T15:10:37.373Z,1761577837.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 104.418541 m,
      bearing: 65.521299 deg,
      lat: 36.779287 deg,
      lon: -121.859525 deg,
      deltaT: 16.133882 s,
      deltaX: -11.743553 m,
      approachRate: -0.727881 m/s,
      posRepo size: 4

2025-10-27T15:10:37.374Z,1761577837.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.42 m.
2025-10-27T15:10:37.404Z,1761577837.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.418541 m,
      nav range: 102.723389 m,
      bearing: 65.986857 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000635 deg/s,
      cmd heading: 70.411040 deg,
      new cmd heading: 70.411854 deg.

2025-10-27T15:10:37.405Z,1761577837.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228919 target range: 104.418541 and range: 104.90 m.
2025-10-27T15:10:37.702Z,1761577837.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336612,-0.931293,-0.139234],[0.939941,0.323422,0.109134],[-0.056605,-0.167607,0.984228]]
2025-10-27T15:10:37.722Z,1761577837.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.42 m.
2025-10-27T15:10:37.726Z,1761577837.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.418541 m,
      nav range: 102.445518 m,
      bearing: 65.987998 deg,
      approach rate: -0.780657 m/s,
      LOS rate: 0.003214 deg/s,
      cmd heading: 70.411853 deg,
      new cmd heading: 70.415286 deg.

2025-10-27T15:10:37.728Z,1761577837.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228979 target range: 104.418541 and range: 104.90 m.
2025-10-27T15:10:38.106Z,1761577838.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337269,-0.930903,-0.140250],[0.939743,0.324057,0.108949],[-0.055972,-0.168544,0.984104]]
2025-10-27T15:10:38.152Z,1761577838.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.42 m.
2025-10-27T15:10:38.155Z,1761577838.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.418541 m,
      nav range: 102.118820 m,
      bearing: 65.989444 deg,
      approach rate: -0.758650 m/s,
      LOS rate: 0.003369 deg/s,
      cmd heading: 70.415289 deg,
      new cmd heading: 70.419641 deg.

2025-10-27T15:10:38.156Z,1761577838.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229055 target range: 104.418541 and range: 104.90 m.
2025-10-27T15:10:38.512Z,1761577838.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338078,-0.930414,-0.141534],[0.939497,0.324836,0.108751],[-0.055208,-0.169737,0.983942]]
2025-10-27T15:10:38.529Z,1761577838.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:38.531Z,1761577838.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.42 m.
2025-10-27T15:10:38.534Z,1761577838.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.418541 m,
      nav range: 101.832527 m,
      bearing: 65.990851 deg,
      approach rate: -0.755548 m/s,
      LOS rate: 0.003723 deg/s,
      cmd heading: 70.419640 deg,
      new cmd heading: 70.423871 deg.

2025-10-27T15:10:38.535Z,1761577838.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229128 target range: 104.418541 and range: 104.90 m.
2025-10-27T15:10:38.756Z,1761577838.756 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:38.756Z,1761577838.756 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:38.756Z,1761577838.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:38.913Z,1761577838.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338926,-0.929907,-0.142836],[0.939252,0.325698,0.108289],[-0.054177,-0.170861,0.983804]]
2025-10-27T15:10:38.932Z,1761577838.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.42 m.
2025-10-27T15:10:38.958Z,1761577838.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.418541 m,
      nav range: 101.529205 m,
      bearing: 65.992496 deg,
      approach rate: -0.756012 m/s,
      LOS rate: 0.004113 deg/s,
      cmd heading: 70.423874 deg,
      new cmd heading: 70.428825 deg.

2025-10-27T15:10:38.966Z,1761577838.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229215 target range: 104.418541 and range: 104.90 m.
2025-10-27T15:10:39.011Z,1761577839.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006326
2025-10-27T15:10:39.261Z,1761577839.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256424
2025-10-27T15:10:39.328Z,1761577839.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339518,-0.929798,-0.142136],[0.939099,0.326550,0.107046],[-0.053117,-0.169824,0.984042]]
2025-10-27T15:10:39.412Z,1761577839.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.42 m.
2025-10-27T15:10:39.415Z,1761577839.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.418541 m,
      nav range: 101.168480 m,
      bearing: 65.992459 deg,
      approach rate: -0.751834 m/s,
      LOS rate: -0.000077 deg/s,
      cmd heading: 70.428826 deg,
      new cmd heading: 70.428715 deg.

2025-10-27T15:10:39.416Z,1761577839.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229213 target range: 104.418541 and range: 104.90 m.
2025-10-27T15:10:39.517Z,1761577839.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512669
2025-10-27T15:10:39.753Z,1761577839.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340058,-0.929663,-0.141728],[0.938959,0.327306,0.105956],[-0.052115,-0.169108,0.984219]]
2025-10-27T15:10:39.768Z,1761577839.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763650
2025-10-27T15:10:39.774Z,1761577839.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.42 m.
2025-10-27T15:10:39.777Z,1761577839.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.418541 m,
      nav range: 100.897888 m,
      bearing: 65.992520 deg,
      approach rate: -0.748206 m/s,
      LOS rate: 0.000168 deg/s,
      cmd heading: 70.428717 deg,
      new cmd heading: 70.428900 deg.

2025-10-27T15:10:39.778Z,1761577839.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229216 target range: 104.418541 and range: 104.90 m.
2025-10-27T15:10:40.021Z,1761577840.021 [DAT](INFO): DAT read: Rx Time:15:10:38.6126

2025-10-27T15:10:40.021Z,1761577840.021 [DAT](INFO): Rx dataTimestamp_ set to:1761577840.020894
2025-10-27T15:10:40.022Z,1761577840.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017746
2025-10-27T15:10:40.202Z,1761577840.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.42 m.
2025-10-27T15:10:40.205Z,1761577840.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.418541 m,
      nav range: 100.565643 m,
      bearing: 65.993141 deg,
      approach rate: -0.775396 m/s,
      LOS rate: 0.001455 deg/s,
      cmd heading: 70.428901 deg,
      new cmd heading: 70.430772 deg.

2025-10-27T15:10:40.206Z,1761577840.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229249 target range: 104.418541 and range: 104.90 m.
2025-10-27T15:10:40.272Z,1761577840.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267797
2025-10-27T15:10:40.531Z,1761577840.531 [DAT](INFO): DAT read: 15:10:38.6125 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 397,-0.23, 2.045, 0.478, 2.416, 1.994, PHS= 0.153,-1.471, 0.378, RAW= 156.4,  10.8, CAL= 156.4,  11.8, ROT= 353.6, -11.8

2025-10-27T15:10:40.532Z,1761577840.532 [DAT](INFO): got valid direction response:
 15:10:38.6125 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 397,-0.23, 2.045, 0.478, 2.416, 1.994, PHS= 0.153,-1.471, 0.378, RAW= 156.4,  10.8, CAL= 156.4,  11.8, ROT= 353.6, -11.8

2025-10-27T15:10:40.533Z,1761577840.533 [DAT](INFO): DAT read: Bearing 219.8, -11.1 (Local)

2025-10-27T15:10:40.533Z,1761577840.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.8, -11.1 (Local)

2025-10-27T15:10:40.535Z,1761577840.535 [DAT](INFO): DAT read: Range 11 to 50 : 101.9 m  (Round-trip  135.9 ms) speed  0.7 m/s

2025-10-27T15:10:40.536Z,1761577840.536 [DAT](INFO): DAT read: user:989>

2025-10-27T15:10:40.536Z,1761577840.536 [DAT](INFO): DAT read: Tx time:15:10:39.7225

2025-10-27T15:10:40.537Z,1761577840.537 [DAT](INFO): Ping request sent.
2025-10-27T15:10:40.537Z,1761577840.537 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:40.537Z,1761577840.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:40.538Z,1761577840.538 [DAT](INFO): direction in FSK: [0.972767,-0.109113,0.204496]
2025-10-27T15:10:40.538Z,1761577840.538 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:40.539Z,1761577840.539 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:40.549Z,1761577840.549 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:40.549Z,1761577840.549 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:40.608Z,1761577840.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340704,-0.929697,-0.139943],[0.938827,0.328474,0.103481],[-0.050238,-0.166638,0.984737]]
2025-10-27T15:10:40.672Z,1761577840.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.900002 m,
      deltaT: 3.533136 s,
      deltaX: -3.000000 m,
      approachRate: -0.849104 m/s,
      rangeRepo size: 4

2025-10-27T15:10:40.674Z,1761577840.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.432098 m,
      bearing: 65.778149 deg,
      lat: 36.779289 deg,
      lon: -121.859525 deg,
      deltaT: 3.533136 s,
      deltaX: -2.986443 m,
      approachRate: -0.845267 m/s,
      posRepo size: 4

2025-10-27T15:10:40.675Z,1761577840.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m.
2025-10-27T15:10:40.681Z,1761577840.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.432098 m,
      nav range: 100.326385 m,
      bearing: 65.876145 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001455 deg/s,
      cmd heading: 70.430773 deg,
      new cmd heading: 70.432732 deg.

2025-10-27T15:10:40.682Z,1761577840.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229283 target range: 101.432098 and range: 101.90 m.
2025-10-27T15:10:41.047Z,1761577841.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340815,-0.929779,-0.139124],[0.938828,0.328810,0.102399],[-0.049463,-0.165513,0.984966]]
2025-10-27T15:10:41.081Z,1761577841.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:41.084Z,1761577841.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m.
2025-10-27T15:10:41.103Z,1761577841.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.432098 m,
      nav range: 99.972130 m,
      bearing: 65.873809 deg,
      approach rate: -0.817901 m/s,
      LOS rate: -0.005414 deg/s,
      cmd heading: 70.432733 deg,
      new cmd heading: 70.425699 deg.

2025-10-27T15:10:41.104Z,1761577841.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229160 target range: 101.432098 and range: 101.90 m.
2025-10-27T15:10:41.280Z,1761577841.280 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:41.280Z,1761577841.280 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:41.280Z,1761577841.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:41.426Z,1761577841.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340472,-0.929976,-0.138651],[0.939004,0.328700,0.101127],[-0.048471,-0.164625,0.985165]]
2025-10-27T15:10:41.444Z,1761577841.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m.
2025-10-27T15:10:41.448Z,1761577841.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.432098 m,
      nav range: 99.689255 m,
      bearing: 65.871872 deg,
      approach rate: -0.785668 m/s,
      LOS rate: -0.005395 deg/s,
      cmd heading: 70.425698 deg,
      new cmd heading: 70.419870 deg.

2025-10-27T15:10:41.449Z,1761577841.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229059 target range: 101.432098 and range: 101.90 m.
2025-10-27T15:10:41.533Z,1761577841.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996125
2025-10-27T15:10:41.784Z,1761577841.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247288
2025-10-27T15:10:41.826Z,1761577841.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340381,-0.929949,-0.139056],[0.939075,0.328695,0.100487],[-0.047740,-0.164788,0.985173]]
2025-10-27T15:10:41.875Z,1761577841.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m.
2025-10-27T15:10:41.880Z,1761577841.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.432098 m,
      nav range: 99.358261 m,
      bearing: 65.869569 deg,
      approach rate: -0.768075 m/s,
      LOS rate: -0.005361 deg/s,
      cmd heading: 70.419872 deg,
      new cmd heading: 70.412942 deg.

2025-10-27T15:10:41.881Z,1761577841.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228938 target range: 101.432098 and range: 101.90 m.
2025-10-27T15:10:42.039Z,1761577842.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501843
2025-10-27T15:10:42.280Z,1761577842.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m.
2025-10-27T15:10:42.283Z,1761577842.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.432098 m,
      nav range: 99.044792 m,
      bearing: 65.863035 deg,
      approach rate: -0.776017 m/s,
      LOS rate: -0.016227 deg/s,
      cmd heading: 70.412939 deg,
      new cmd heading: 70.393274 deg.

2025-10-27T15:10:42.284Z,1761577842.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228594 target range: 101.432098 and range: 101.90 m.
2025-10-27T15:10:42.288Z,1761577842.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751209
2025-10-27T15:10:42.540Z,1761577842.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003111
2025-10-27T15:10:42.710Z,1761577842.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340163,-0.929986,-0.139336],[0.939233,0.328730,0.098884],[-0.046157,-0.164505,0.985296]]
2025-10-27T15:10:42.751Z,1761577842.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m.
2025-10-27T15:10:42.759Z,1761577842.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.432098 m,
      nav range: 98.702049 m,
      bearing: 65.855793 deg,
      approach rate: -0.733323 m/s,
      LOS rate: -0.015549 deg/s,
      cmd heading: 70.393275 deg,
      new cmd heading: 70.371473 deg.

2025-10-27T15:10:42.760Z,1761577842.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228214 target range: 101.432098 and range: 101.90 m.
2025-10-27T15:10:42.792Z,1761577842.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255283
2025-10-27T15:10:43.047Z,1761577843.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509538
2025-10-27T15:10:43.162Z,1761577843.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:43.165Z,1761577843.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m.
2025-10-27T15:10:43.168Z,1761577843.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.432098 m,
      nav range: 98.356201 m,
      bearing: 65.842626 deg,
      approach rate: -0.826923 m/s,
      LOS rate: -0.031592 deg/s,
      cmd heading: 70.371473 deg,
      new cmd heading: 70.331834 deg.

2025-10-27T15:10:43.169Z,1761577843.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227522 target range: 101.432098 and range: 101.90 m.
2025-10-27T15:10:43.296Z,1761577843.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759119
2025-10-27T15:10:43.509Z,1761577843.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339389,-0.930202,-0.139782],[0.939606,0.328261,0.096880],[-0.044233,-0.164220,0.985431]]
2025-10-27T15:10:43.544Z,1761577843.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m.
2025-10-27T15:10:43.548Z,1761577843.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011220
2025-10-27T15:10:43.551Z,1761577843.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.432098 m,
      nav range: 98.067101 m,
      bearing: 65.831403 deg,
      approach rate: -0.797783 m/s,
      LOS rate: -0.031061 deg/s,
      cmd heading: 70.331838 deg,
      new cmd heading: 70.298070 deg.

2025-10-27T15:10:43.552Z,1761577843.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226933 target range: 101.432098 and range: 101.90 m.
2025-10-27T15:10:43.804Z,1761577843.804 [DAT](INFO): DAT read: Rx Time:15:10:42.2589

2025-10-27T15:10:43.804Z,1761577843.804 [DAT](INFO): Rx dataTimestamp_ set to:1761577843.804007
2025-10-27T15:10:43.805Z,1761577843.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268379
2025-10-27T15:10:43.913Z,1761577843.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338836,-0.930293,-0.140519],[0.939865,0.327869,0.095686],[-0.042944,-0.164491,0.985443]]
2025-10-27T15:10:43.932Z,1761577843.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m.
2025-10-27T15:10:43.952Z,1761577843.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.432098 m,
      nav range: 97.744553 m,
      bearing: 65.818688 deg,
      approach rate: -0.796432 m/s,
      LOS rate: -0.031500 deg/s,
      cmd heading: 70.298069 deg,
      new cmd heading: 70.259798 deg.

2025-10-27T15:10:43.953Z,1761577843.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226265 target range: 101.432098 and range: 101.90 m.
2025-10-27T15:10:44.057Z,1761577844.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517617
2025-10-27T15:10:44.309Z,1761577844.309 [DAT](INFO): DAT read: 15:10:42.2589 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 407, 0.16, 0.332,-1.241, 0.705, 0.273, PHS= 0.161,-1.470, 0.387, RAW= 156.4,  10.5, CAL= 156.4,  11.5, ROT= 353.6, -11.5

2025-10-27T15:10:44.311Z,1761577844.311 [DAT](INFO): got valid direction response:
 15:10:42.2589 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 407, 0.16, 0.332,-1.241, 0.705, 0.273, PHS= 0.161,-1.470, 0.387, RAW= 156.4,  10.5, CAL= 156.4,  11.5, ROT= 353.6, -11.5

2025-10-27T15:10:44.312Z,1761577844.312 [DAT](INFO): DAT read: Bearing 219.1, -10.3 (Local)

2025-10-27T15:10:44.312Z,1761577844.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.1, -10.3 (Local)

2025-10-27T15:10:44.313Z,1761577844.313 [DAT](INFO): DAT read: Range 11 to 50 : 99.2 m  (Round-trip  132.3 ms) speed  0.6 m/s

2025-10-27T15:10:44.314Z,1761577844.314 [DAT](INFO): DAT read: user:990>

2025-10-27T15:10:44.315Z,1761577844.315 [DAT](INFO): DAT read: Tx time:15:10:43.3725

2025-10-27T15:10:44.315Z,1761577844.315 [DAT](INFO): Ping request sent.
2025-10-27T15:10:44.315Z,1761577844.315 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:44.316Z,1761577844.316 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:44.317Z,1761577844.317 [DAT](INFO): direction in FSK: [0.973818,-0.109231,0.199368]
2025-10-27T15:10:44.317Z,1761577844.317 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:44.317Z,1761577844.317 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:44.321Z,1761577844.321 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:44.321Z,1761577844.321 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:44.387Z,1761577844.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337923,-0.930532,-0.141131],[0.940256,0.327154,0.094282],[-0.041561,-0.164559,0.985491]]
2025-10-27T15:10:44.514Z,1761577844.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.199997 m,
      deltaT: 3.778687 s,
      deltaX: -2.700005 m,
      approachRate: -0.714535 m/s,
      rangeRepo size: 4

2025-10-27T15:10:44.524Z,1761577844.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.745178 m,
      bearing: 65.869550 deg,
      lat: 36.779289 deg,
      lon: -121.859525 deg,
      deltaT: 3.778687 s,
      deltaX: -2.686920 m,
      approachRate: -0.711072 m/s,
      posRepo size: 4

2025-10-27T15:10:44.525Z,1761577844.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.75 m.
2025-10-27T15:10:44.529Z,1761577844.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.745178 m,
      nav range: 97.297295 m,
      bearing: 65.800214 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031500 deg/s,
      cmd heading: 70.259800 deg,
      new cmd heading: 70.204896 deg.

2025-10-27T15:10:44.530Z,1761577844.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225307 target range: 98.745178 and range: 99.20 m.
2025-10-27T15:10:44.863Z,1761577844.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336406,-0.930940,-0.142060],[0.940901,0.325992,0.091838],[-0.039185,-0.164559,0.985589]]
2025-10-27T15:10:44.886Z,1761577844.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.75 m.
2025-10-27T15:10:44.890Z,1761577844.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.745178 m,
      nav range: 96.983002 m,
      bearing: 65.786823 deg,
      approach rate: -0.841909 m/s,
      LOS rate: -0.035989 deg/s,
      cmd heading: 70.204899 deg,
      new cmd heading: 70.164594 deg.

2025-10-27T15:10:44.891Z,1761577844.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224603 target range: 98.745178 and range: 99.20 m.
2025-10-27T15:10:45.250Z,1761577845.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335276,-0.931342,-0.142097],[0.941359,0.325113,0.090249],[-0.037855,-0.164023,0.985730]]
2025-10-27T15:10:45.301Z,1761577845.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:45.303Z,1761577845.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.75 m.
2025-10-27T15:10:45.310Z,1761577845.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.745178 m,
      nav range: 96.666336 m,
      bearing: 65.775718 deg,
      approach rate: -0.760928 m/s,
      LOS rate: -0.026771 deg/s,
      cmd heading: 70.164594 deg,
      new cmd heading: 70.131171 deg.

2025-10-27T15:10:45.312Z,1761577845.312 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:45.312Z,1761577845.312 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:45.312Z,1761577845.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:45.315Z,1761577845.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224020 target range: 98.745178 and range: 99.20 m.
2025-10-27T15:10:45.565Z,1761577845.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248885
2025-10-27T15:10:45.653Z,1761577845.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334379,-0.931655,-0.142158],[0.941734,0.324475,0.088617],[-0.036434,-0.163507,0.985869]]
2025-10-27T15:10:45.681Z,1761577845.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.75 m.
2025-10-27T15:10:45.684Z,1761577845.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.745178 m,
      nav range: 96.353897 m,
      bearing: 65.764508 deg,
      approach rate: -0.826084 m/s,
      LOS rate: -0.029735 deg/s,
      cmd heading: 70.131173 deg,
      new cmd heading: 70.097435 deg.

2025-10-27T15:10:45.685Z,1761577845.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223431 target range: 98.745178 and range: 99.20 m.
2025-10-27T15:10:45.816Z,1761577845.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500469
2025-10-27T15:10:46.071Z,1761577846.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754801
2025-10-27T15:10:46.111Z,1761577846.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333704,-0.931784,-0.142897],[0.942026,0.323984,0.087302],[-0.035050,-0.163746,0.985880]]
2025-10-27T15:10:46.164Z,1761577846.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.75 m.
2025-10-27T15:10:46.171Z,1761577846.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.745178 m,
      nav range: 95.990181 m,
      bearing: 65.753035 deg,
      approach rate: -0.752831 m/s,
      LOS rate: -0.023837 deg/s,
      cmd heading: 70.097432 deg,
      new cmd heading: 70.062883 deg.

2025-10-27T15:10:46.172Z,1761577846.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222828 target range: 98.745178 and range: 99.20 m.
2025-10-27T15:10:46.320Z,1761577846.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004524
2025-10-27T15:10:46.460Z,1761577846.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332660,-0.932328,-0.141780],[0.942450,0.323324,0.085140],[-0.033538,-0.161943,0.986230]]
2025-10-27T15:10:46.478Z,1761577846.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.75 m.
2025-10-27T15:10:46.481Z,1761577846.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.745178 m,
      nav range: 95.733017 m,
      bearing: 65.744692 deg,
      approach rate: -0.818376 m/s,
      LOS rate: -0.026621 deg/s,
      cmd heading: 70.062885 deg,
      new cmd heading: 70.037790 deg.

2025-10-27T15:10:46.482Z,1761577846.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222390 target range: 98.745178 and range: 99.20 m.
2025-10-27T15:10:46.573Z,1761577846.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257829
2025-10-27T15:10:46.824Z,1761577846.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508499
2025-10-27T15:10:46.879Z,1761577846.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332116,-0.932483,-0.142038],[0.942680,0.322952,0.084005],[-0.032461,-0.161795,0.986290]]
2025-10-27T15:10:46.897Z,1761577846.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.75 m.
2025-10-27T15:10:46.900Z,1761577846.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.745178 m,
      nav range: 95.406998 m,
      bearing: 65.733935 deg,
      approach rate: -0.778492 m/s,
      LOS rate: -0.025776 deg/s,
      cmd heading: 70.037791 deg,
      new cmd heading: 70.005407 deg.

2025-10-27T15:10:46.901Z,1761577846.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221825 target range: 98.745178 and range: 99.20 m.
2025-10-27T15:10:47.079Z,1761577847.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763198
2025-10-27T15:10:47.265Z,1761577847.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332004,-0.932433,-0.142625],[0.942757,0.322981,0.083025],[-0.031351,-0.162025,0.986288]]
2025-10-27T15:10:47.310Z,1761577847.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:47.312Z,1761577847.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.75 m.
2025-10-27T15:10:47.315Z,1761577847.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.745178 m,
      nav range: 95.085762 m,
      bearing: 65.725734 deg,
      approach rate: -0.773959 m/s,
      LOS rate: -0.019824 deg/s,
      cmd heading: 70.005409 deg,
      new cmd heading: 69.980725 deg.

2025-10-27T15:10:47.316Z,1761577847.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221394 target range: 98.745178 and range: 99.20 m.
2025-10-27T15:10:47.328Z,1761577847.328 [DAT](INFO): DAT read: Rx Time:15:10:45.9052

2025-10-27T15:10:47.328Z,1761577847.328 [DAT](INFO): Rx dataTimestamp_ set to:1761577847.328210
2025-10-27T15:10:47.329Z,1761577847.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013648
2025-10-27T15:10:47.580Z,1761577847.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264740
2025-10-27T15:10:47.669Z,1761577847.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332046,-0.932286,-0.143484],[0.942777,0.323132,0.082198],[-0.030268,-0.162567,0.986233]]
2025-10-27T15:10:47.714Z,1761577847.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.75 m.
2025-10-27T15:10:47.723Z,1761577847.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.745178 m,
      nav range: 94.787552 m,
      bearing: 65.718078 deg,
      approach rate: -0.741975 m/s,
      LOS rate: -0.019109 deg/s,
      cmd heading: 69.980725 deg,
      new cmd heading: 69.957684 deg.

2025-10-27T15:10:47.725Z,1761577847.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220992 target range: 98.745178 and range: 99.20 m.
2025-10-27T15:10:47.844Z,1761577847.844 [DAT](INFO): DAT read: 15:10:45.9052 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 401, 0.15, 1.093,-0.470, 1.486, 1.036, PHS= 0.159,-1.462, 0.405, RAW= 157.0,  10.2, CAL= 156.9,  11.1, ROT= 353.1, -11.1

2025-10-27T15:10:47.847Z,1761577847.847 [DAT](INFO): got valid direction response:
 15:10:45.9052 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 401, 0.15, 1.093,-0.470, 1.486, 1.036, PHS= 0.159,-1.462, 0.405, RAW= 157.0,  10.2, CAL= 156.9,  11.1, ROT= 353.1, -11.1

2025-10-27T15:10:47.848Z,1761577847.848 [DAT](INFO): DAT read: Bearing 219.1, -10.1 (Local)

2025-10-27T15:10:47.849Z,1761577847.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.1, -10.1 (Local)

2025-10-27T15:10:47.860Z,1761577847.860 [DAT](INFO): DAT read: Range 11 to 50 : 96.4 m  (Round-trip  128.6 ms) speed  0.7 m/s

2025-10-27T15:10:47.862Z,1761577847.862 [DAT](INFO): DAT read: user:991>

2025-10-27T15:10:47.875Z,1761577847.875 [DAT](INFO): DAT read: Tx time:15:10:47.0225

2025-10-27T15:10:47.876Z,1761577847.876 [DAT](INFO): Ping request sent.
2025-10-27T15:10:47.876Z,1761577847.876 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:47.876Z,1761577847.876 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:47.877Z,1761577847.877 [DAT](INFO): direction in FSK: [0.974186,-0.117889,0.192522]
2025-10-27T15:10:47.877Z,1761577847.877 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:47.878Z,1761577847.878 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:47.885Z,1761577847.885 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:47.885Z,1761577847.885 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:48.099Z,1761577848.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331768,-0.932291,-0.144095],[0.942908,0.322981,0.081295],[-0.029251,-0.162840,0.986219]]
2025-10-27T15:10:48.170Z,1761577848.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.400002 m,
      deltaT: 3.528247 s,
      deltaX: -2.799995 m,
      approachRate: -0.793594 m/s,
      rangeRepo size: 4

2025-10-27T15:10:48.189Z,1761577848.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.958092 m,
      bearing: 65.660441 deg,
      lat: 36.779289 deg,
      lon: -121.859525 deg,
      deltaT: 3.528247 s,
      deltaX: -2.787086 m,
      approachRate: -0.789935 m/s,
      posRepo size: 4

2025-10-27T15:10:48.190Z,1761577848.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.96 m.
2025-10-27T15:10:48.208Z,1761577848.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.958092 m,
      nav range: 94.430275 m,
      bearing: 65.707609 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019109 deg/s,
      cmd heading: 69.957687 deg,
      new cmd heading: 69.931741 deg.

2025-10-27T15:10:48.209Z,1761577848.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220539 target range: 95.958092 and range: 96.40 m.
2025-10-27T15:10:48.532Z,1761577848.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331556,-0.932210,-0.145107],[0.943019,0.322895,0.080338],[-0.028038,-0.163475,0.986149]]
2025-10-27T15:10:48.589Z,1761577848.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.96 m.
2025-10-27T15:10:48.596Z,1761577848.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.958092 m,
      nav range: 94.118904 m,
      bearing: 65.704130 deg,
      approach rate: -0.736448 m/s,
      LOS rate: -0.008257 deg/s,
      cmd heading: 69.931739 deg,
      new cmd heading: 69.921266 deg.

2025-10-27T15:10:48.597Z,1761577848.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220356 target range: 95.958092 and range: 96.40 m.
2025-10-27T15:10:48.978Z,1761577848.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.96 m.
2025-10-27T15:10:48.981Z,1761577848.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.958092 m,
      nav range: 93.814529 m,
      bearing: 65.700706 deg,
      approach rate: -0.782772 m/s,
      LOS rate: -0.008833 deg/s,
      cmd heading: 69.921268 deg,
      new cmd heading: 69.910964 deg.

2025-10-27T15:10:48.982Z,1761577848.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220176 target range: 95.958092 and range: 96.40 m.
2025-10-27T15:10:49.347Z,1761577849.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331580,-0.931615,-0.148823],[0.943071,0.322971,0.079419],[-0.025922,-0.166684,0.985670]]
2025-10-27T15:10:49.403Z,1761577849.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:49.405Z,1761577849.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.96 m.
2025-10-27T15:10:49.408Z,1761577849.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.958092 m,
      nav range: 93.491631 m,
      bearing: 65.695373 deg,
      approach rate: -0.756513 m/s,
      LOS rate: -0.012538 deg/s,
      cmd heading: 69.910961 deg,
      new cmd heading: 69.894907 deg.

2025-10-27T15:10:49.409Z,1761577849.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219896 target range: 95.958092 and range: 96.40 m.
2025-10-27T15:10:49.596Z,1761577849.596 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:49.596Z,1761577849.596 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:49.596Z,1761577849.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:49.766Z,1761577849.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331751,-0.931375,-0.149939],[0.943033,0.323190,0.078971],[-0.025093,-0.167596,0.985536]]
2025-10-27T15:10:49.790Z,1761577849.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.96 m.
2025-10-27T15:10:49.798Z,1761577849.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.958092 m,
      nav range: 93.205589 m,
      bearing: 65.690645 deg,
      approach rate: -0.742107 m/s,
      LOS rate: -0.012303 deg/s,
      cmd heading: 69.894904 deg,
      new cmd heading: 69.880677 deg.

2025-10-27T15:10:49.799Z,1761577849.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219648 target range: 95.958092 and range: 96.40 m.
2025-10-27T15:10:49.849Z,1761577849.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973162
2025-10-27T15:10:50.103Z,1761577850.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226295
2025-10-27T15:10:50.178Z,1761577850.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332301,-0.931006,-0.151008],[0.942858,0.323764,0.078710],[-0.024388,-0.168535,0.985394]]
2025-10-27T15:10:50.271Z,1761577850.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.96 m.
2025-10-27T15:10:50.277Z,1761577850.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.958092 m,
      nav range: 92.853027 m,
      bearing: 65.688526 deg,
      approach rate: -0.734420 m/s,
      LOS rate: -0.004433 deg/s,
      cmd heading: 69.880676 deg,
      new cmd heading: 69.874293 deg.

2025-10-27T15:10:50.278Z,1761577850.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219536 target range: 95.958092 and range: 96.40 m.
2025-10-27T15:10:50.353Z,1761577850.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477005
2025-10-27T15:10:50.604Z,1761577850.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727865
2025-10-27T15:10:50.638Z,1761577850.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332479,-0.930757,-0.152145],[0.942820,0.324024,0.078091],[-0.023385,-0.169409,0.985268]]
2025-10-27T15:10:50.657Z,1761577850.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.96 m.
2025-10-27T15:10:50.676Z,1761577850.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.958092 m,
      nav range: 92.546104 m,
      bearing: 65.686697 deg,
      approach rate: -0.794629 m/s,
      LOS rate: -0.004751 deg/s,
      cmd heading: 69.874290 deg,
      new cmd heading: 69.868785 deg.

2025-10-27T15:10:50.677Z,1761577850.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219440 target range: 95.958092 and range: 96.40 m.
2025-10-27T15:10:50.857Z,1761577850.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980941
2025-10-27T15:10:51.036Z,1761577851.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333281,-0.930239,-0.153555],[0.942557,0.324836,0.077896],[-0.022581,-0.170696,0.985065]]
2025-10-27T15:10:51.054Z,1761577851.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.96 m.
2025-10-27T15:10:51.057Z,1761577851.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.958092 m,
      nav range: 92.246147 m,
      bearing: 65.685048 deg,
      approach rate: -0.755400 m/s,
      LOS rate: -0.004167 deg/s,
      cmd heading: 69.868785 deg,
      new cmd heading: 69.863822 deg.

2025-10-27T15:10:51.058Z,1761577851.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219354 target range: 95.958092 and range: 96.40 m.
2025-10-27T15:10:51.109Z,1761577851.109 [DAT](INFO): DAT read: Rx Time:15:10:49.5514

2025-10-27T15:10:51.110Z,1761577851.110 [DAT](INFO): Rx dataTimestamp_ set to:1761577851.109453
2025-10-27T15:10:51.111Z,1761577851.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234514
2025-10-27T15:10:51.361Z,1761577851.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484983
2025-10-27T15:10:51.470Z,1761577851.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334022,-0.930002,-0.153381],[0.942312,0.325713,0.077192],[-0.021830,-0.170317,0.985148]]
2025-10-27T15:10:51.528Z,1761577851.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:51.530Z,1761577851.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.96 m.
2025-10-27T15:10:51.533Z,1761577851.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.958092 m,
      nav range: 91.902138 m,
      bearing: 65.679852 deg,
      approach rate: -0.723016 m/s,
      LOS rate: -0.010961 deg/s,
      cmd heading: 69.863819 deg,
      new cmd heading: 69.848174 deg.

2025-10-27T15:10:51.534Z,1761577851.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219081 target range: 95.958092 and range: 96.40 m.
2025-10-27T15:10:51.618Z,1761577851.618 [DAT](INFO): DAT read: 15:10:49.5514 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 411,-0.43, 2.425, 0.875, 2.834, 2.373, PHS= 0.154,-1.453, 0.418, RAW= 157.5,  10.1, CAL= 157.4,  10.9, ROT= 352.6, -10.9

2025-10-27T15:10:51.619Z,1761577851.619 [DAT](INFO): got valid direction response:
 15:10:49.5514 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 411,-0.43, 2.425, 0.875, 2.834, 2.373, PHS= 0.154,-1.453, 0.418, RAW= 157.5,  10.1, CAL= 157.4,  10.9, ROT= 352.6, -10.9

2025-10-27T15:10:51.620Z,1761577851.620 [DAT](INFO): DAT read: Bearing 218.6,  -9.8 (Local)

2025-10-27T15:10:51.621Z,1761577851.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.6,  -9.8 (Local)

2025-10-27T15:10:51.622Z,1761577851.622 [DAT](INFO): DAT read: Range 11 to 50 : 93.6 m  (Round-trip  124.8 ms) speed  0.7 m/s

2025-10-27T15:10:51.623Z,1761577851.623 [DAT](INFO): DAT read: user:992>

2025-10-27T15:10:51.624Z,1761577851.624 [DAT](INFO): DAT read: Tx time:15:10:50.6725

2025-10-27T15:10:51.625Z,1761577851.625 [DAT](INFO): Ping request sent.
2025-10-27T15:10:51.625Z,1761577851.625 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:51.625Z,1761577851.625 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:51.626Z,1761577851.626 [DAT](INFO): direction in FSK: [0.973780,-0.126472,0.189095]
2025-10-27T15:10:51.626Z,1761577851.626 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:51.626Z,1761577851.626 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:51.630Z,1761577851.630 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:51.630Z,1761577851.630 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:51.854Z,1761577851.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334674,-0.929588,-0.154464],[0.942101,0.326420,0.076784],[-0.020957,-0.171218,0.985010]]
2025-10-27T15:10:51.898Z,1761577851.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.599998 m,
      deltaT: 3.780130 s,
      deltaX: -2.800003 m,
      approachRate: -0.740716 m/s,
      rangeRepo size: 4

2025-10-27T15:10:51.904Z,1761577851.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.171249 m,
      bearing: 65.055697 deg,
      lat: 36.779289 deg,
      lon: -121.859526 deg,
      deltaT: 3.780130 s,
      deltaX: -2.786842 m,
      approachRate: -0.737235 m/s,
      posRepo size: 4

2025-10-27T15:10:51.905Z,1761577851.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-10-27T15:10:51.912Z,1761577851.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.171249 m,
      nav range: 91.575272 m,
      bearing: 65.626769 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010961 deg/s,
      cmd heading: 69.848171 deg,
      new cmd heading: 69.836077 deg.

2025-10-27T15:10:51.913Z,1761577851.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218869 target range: 93.171249 and range: 93.60 m.
2025-10-27T15:10:52.246Z,1761577852.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334819,-0.929387,-0.155360],[0.942069,0.326650,0.076197],[-0.020068,-0.171872,0.984915]]
2025-10-27T15:10:52.298Z,1761577852.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-10-27T15:10:52.301Z,1761577852.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.171249 m,
      nav range: 91.249680 m,
      bearing: 65.620811 deg,
      approach rate: -0.813167 m/s,
      LOS rate: -0.014934 deg/s,
      cmd heading: 69.836075 deg,
      new cmd heading: 69.818137 deg.

2025-10-27T15:10:52.302Z,1761577852.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218556 target range: 93.171249 and range: 93.60 m.
2025-10-27T15:10:52.650Z,1761577852.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334810,-0.929185,-0.156583],[0.942093,0.326727,0.075565],[-0.019054,-0.172816,0.984770]]
2025-10-27T15:10:52.668Z,1761577852.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-10-27T15:10:52.671Z,1761577852.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.171249 m,
      nav range: 90.962906 m,
      bearing: 65.615519 deg,
      approach rate: -0.774332 m/s,
      LOS rate: -0.014333 deg/s,
      cmd heading: 69.818139 deg,
      new cmd heading: 69.802214 deg.

2025-10-27T15:10:52.672Z,1761577852.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218278 target range: 93.171249 and range: 93.60 m.
2025-10-27T15:10:53.056Z,1761577853.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334987,-0.928943,-0.157633],[0.942051,0.327014,0.074841],[-0.017975,-0.173570,0.984658]]
2025-10-27T15:10:53.074Z,1761577853.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-10-27T15:10:53.077Z,1761577853.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.171249 m,
      nav range: 90.648750 m,
      bearing: 65.609715 deg,
      approach rate: -0.774196 m/s,
      LOS rate: -0.014353 deg/s,
      cmd heading: 69.802211 deg,
      new cmd heading: 69.784739 deg.

2025-10-27T15:10:53.078Z,1761577853.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217973 target range: 93.171249 and range: 93.60 m.
2025-10-27T15:10:53.458Z,1761577853.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334966,-0.928864,-0.158147],[0.942078,0.327138,0.073963],[-0.016966,-0.173762,0.984642]]
2025-10-27T15:10:53.501Z,1761577853.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-10-27T15:10:53.504Z,1761577853.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.171249 m,
      nav range: 90.311562 m,
      bearing: 65.597851 deg,
      approach rate: -0.789209 m/s,
      LOS rate: -0.027874 deg/s,
      cmd heading: 69.784739 deg,
      new cmd heading: 69.749012 deg.

2025-10-27T15:10:53.505Z,1761577853.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217350 target range: 93.171249 and range: 93.60 m.
2025-10-27T15:10:53.874Z,1761577853.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334517,-0.928962,-0.158519],[0.942258,0.326890,0.072757],[-0.015770,-0.173705,0.984672]]
2025-10-27T15:10:53.918Z,1761577853.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:53.924Z,1761577853.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-10-27T15:10:53.931Z,1761577853.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.171249 m,
      nav range: 89.984009 m,
      bearing: 65.586139 deg,
      approach rate: -0.773859 m/s,
      LOS rate: -0.027770 deg/s,
      cmd heading: 69.749011 deg,
      new cmd heading: 69.713748 deg.

2025-10-27T15:10:53.932Z,1761577853.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216734 target range: 93.171249 and range: 93.60 m.
2025-10-27T15:10:54.132Z,1761577854.132 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:54.132Z,1761577854.132 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:54.132Z,1761577854.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:54.266Z,1761577854.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334132,-0.929125,-0.158375],[0.942412,0.326726,0.071484],[-0.014673,-0.173139,0.984788]]
2025-10-27T15:10:54.317Z,1761577854.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-10-27T15:10:54.320Z,1761577854.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.171249 m,
      nav range: 89.675751 m,
      bearing: 65.571059 deg,
      approach rate: -0.785009 m/s,
      LOS rate: -0.038534 deg/s,
      cmd heading: 69.713746 deg,
      new cmd heading: 69.668352 deg.

2025-10-27T15:10:54.321Z,1761577854.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215942 target range: 93.171249 and range: 93.60 m.
2025-10-27T15:10:54.385Z,1761577854.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760635
2025-10-27T15:10:54.636Z,1761577854.636 [DAT](INFO): DAT read: Rx Time:15:10:53.1974

2025-10-27T15:10:54.637Z,1761577854.637 [DAT](INFO): Rx dataTimestamp_ set to:1761577854.636274
2025-10-27T15:10:54.637Z,1761577854.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012419
2025-10-27T15:10:54.670Z,1761577854.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333707,-0.929142,-0.159168],[0.942582,0.326494,0.070286],[-0.013338,-0.173484,0.984746]]
2025-10-27T15:10:54.707Z,1761577854.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-10-27T15:10:54.709Z,1761577854.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.171249 m,
      nav range: 89.376175 m,
      bearing: 65.556214 deg,
      approach rate: -0.769339 m/s,
      LOS rate: -0.038252 deg/s,
      cmd heading: 69.668353 deg,
      new cmd heading: 69.623668 deg.

2025-10-27T15:10:54.710Z,1761577854.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215162 target range: 93.171249 and range: 93.60 m.
2025-10-27T15:10:54.888Z,1761577854.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263118
2025-10-27T15:10:55.110Z,1761577855.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333294,-0.929229,-0.159527],[0.942746,0.326300,0.068981],[-0.012045,-0.173384,0.984781]]
2025-10-27T15:10:55.146Z,1761577855.146 [DAT](INFO): DAT read: 15:10:53.1974 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 401, 0.39,-3.102, 1.631,-2.659,-3.083, PHS= 0.084,-1.524, 0.381, RAW= 158.3,  11.9, CAL= 158.6,  13.3, ROT= 351.4, -13.3

2025-10-27T15:10:55.147Z,1761577855.147 [DAT](INFO): got valid direction response:
 15:10:53.1974 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 401, 0.39,-3.102, 1.631,-2.659,-3.083, PHS= 0.084,-1.524, 0.381, RAW= 158.3,  11.9, CAL= 158.6,  13.3, ROT= 351.4, -13.3

2025-10-27T15:10:55.148Z,1761577855.148 [DAT](INFO): DAT read: Bearing 221.3, -10.5 (Local)

2025-10-27T15:10:55.148Z,1761577855.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.3, -10.5 (Local)

2025-10-27T15:10:55.150Z,1761577855.150 [DAT](INFO): DAT read: Range 11 to 50 : 90.6 m  (Round-trip  120.8 ms) speed  0.6 m/s

2025-10-27T15:10:55.150Z,1761577855.150 [DAT](INFO): DAT read: user:993>

2025-10-27T15:10:55.152Z,1761577855.152 [DAT](INFO): DAT read: Tx time:15:10:54.3225

2025-10-27T15:10:55.152Z,1761577855.152 [DAT](INFO): Ping request sent.
2025-10-27T15:10:55.152Z,1761577855.152 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:55.152Z,1761577855.152 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:55.153Z,1761577855.153 [DAT](INFO): direction in FSK: [0.962237,-0.145525,0.230050]
2025-10-27T15:10:55.154Z,1761577855.154 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:55.154Z,1761577855.154 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:55.157Z,1761577855.157 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:55.157Z,1761577855.157 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:55.268Z,1761577855.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.599998 m,
      deltaT: 3.527811 s,
      deltaX: -3.000000 m,
      approachRate: -0.850386 m/s,
      rangeRepo size: 4

2025-10-27T15:10:55.270Z,1761577855.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 90.184692 m,
      bearing: 64.413249 deg,
      lat: 36.779289 deg,
      lon: -121.859529 deg,
      deltaT: 3.527811 s,
      deltaX: -2.986557 m,
      approachRate: -0.846575 m/s,
      posRepo size: 4

2025-10-27T15:10:55.278Z,1761577855.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.18 m.
2025-10-27T15:10:55.289Z,1761577855.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.184692 m,
      nav range: 88.744949 m,
      bearing: 65.449820 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038252 deg/s,
      cmd heading: 69.623670 deg,
      new cmd heading: 69.560820 deg.

2025-10-27T15:10:55.290Z,1761577855.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.214065 target range: 90.184692 and range: 90.60 m.
2025-10-27T15:10:55.634Z,1761577855.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.18 m.
2025-10-27T15:10:55.637Z,1761577855.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.184692 m,
      nav range: 88.344620 m,
      bearing: 65.430095 deg,
      approach rate: -1.054812 m/s,
      LOS rate: -0.052208 deg/s,
      cmd heading: 69.560819 deg,
      new cmd heading: 69.501375 deg.

2025-10-27T15:10:55.638Z,1761577855.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213028 target range: 90.184692 and range: 90.60 m.
2025-10-27T15:10:55.965Z,1761577855.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332834,-0.929163,-0.160865],[0.942937,0.326213,0.066746],[-0.009542,-0.173901,0.984717]]
2025-10-27T15:10:55.981Z,1761577855.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:55.984Z,1761577855.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.18 m.
2025-10-27T15:10:55.986Z,1761577855.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.184692 m,
      nav range: 88.067635 m,
      bearing: 65.416252 deg,
      approach rate: -0.791303 m/s,
      LOS rate: -0.039672 deg/s,
      cmd heading: 69.501375 deg,
      new cmd heading: 69.459715 deg.

2025-10-27T15:10:55.988Z,1761577855.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212301 target range: 90.184692 and range: 90.60 m.
2025-10-27T15:10:56.148Z,1761577856.148 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:10:56.148Z,1761577856.148 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:10:56.148Z,1761577856.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:10:56.365Z,1761577856.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332825,-0.929015,-0.161737],[0.942950,0.326322,0.066027],[-0.008561,-0.174485,0.984623]]
2025-10-27T15:10:56.400Z,1761577856.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247958
2025-10-27T15:10:56.425Z,1761577856.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.18 m.
2025-10-27T15:10:56.428Z,1761577856.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.184692 m,
      nav range: 87.722794 m,
      bearing: 65.397296 deg,
      approach rate: -0.782158 m/s,
      LOS rate: -0.043165 deg/s,
      cmd heading: 69.459718 deg,
      new cmd heading: 69.402625 deg.

2025-10-27T15:10:56.429Z,1761577856.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211304 target range: 90.184692 and range: 90.60 m.
2025-10-27T15:10:56.654Z,1761577856.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501439
2025-10-27T15:10:56.764Z,1761577856.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332399,-0.929059,-0.162356],[0.943109,0.326059,0.065043],[-0.007491,-0.174740,0.984586]]
2025-10-27T15:10:56.795Z,1761577856.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.18 m.
2025-10-27T15:10:56.798Z,1761577856.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.184692 m,
      nav range: 87.421341 m,
      bearing: 65.380511 deg,
      approach rate: -0.813576 m/s,
      LOS rate: -0.045456 deg/s,
      cmd heading: 69.402624 deg,
      new cmd heading: 69.352096 deg.

2025-10-27T15:10:56.799Z,1761577856.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210422 target range: 90.184692 and range: 90.60 m.
2025-10-27T15:10:56.880Z,1761577856.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:10:56.904Z,1761577856.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752087
2025-10-27T15:10:57.156Z,1761577857.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003931
2025-10-27T15:10:57.241Z,1761577857.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.18 m.
2025-10-27T15:10:57.264Z,1761577857.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.184692 m,
      nav range: 87.088600 m,
      bearing: 65.361849 deg,
      approach rate: -0.756566 m/s,
      LOS rate: -0.042595 deg/s,
      cmd heading: 69.352095 deg,
      new cmd heading: 69.295894 deg.

2025-10-27T15:10:57.272Z,1761577857.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209442 target range: 90.184692 and range: 90.60 m.
2025-10-27T15:10:57.408Z,1761577857.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255847
2025-10-27T15:10:57.581Z,1761577857.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332948,-0.928286,-0.165624],[0.942926,0.326638,0.064792],[-0.006047,-0.177744,0.984058]]
2025-10-27T15:10:57.642Z,1761577857.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.18 m.
2025-10-27T15:10:57.649Z,1761577857.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.184692 m,
      nav range: 86.765152 m,
      bearing: 65.346843 deg,
      approach rate: -0.794920 m/s,
      LOS rate: -0.037017 deg/s,
      cmd heading: 69.295896 deg,
      new cmd heading: 69.250710 deg.

2025-10-27T15:10:57.650Z,1761577857.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208653 target range: 90.184692 and range: 90.60 m.
2025-10-27T15:10:57.660Z,1761577857.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508082
2025-10-27T15:10:57.884Z,1761577857.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:10:57.913Z,1761577857.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760800
2025-10-27T15:10:57.982Z,1761577857.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333091,-0.928287,-0.165327],[0.942880,0.326963,0.063813],[-0.005181,-0.177139,0.984172]]
2025-10-27T15:10:58.021Z,1761577858.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:10:58.024Z,1761577858.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.18 m.
2025-10-27T15:10:58.026Z,1761577858.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.184692 m,
      nav range: 86.463127 m,
      bearing: 65.332758 deg,
      approach rate: -0.791084 m/s,
      LOS rate: -0.037020 deg/s,
      cmd heading: 69.250707 deg,
      new cmd heading: 69.208307 deg.

2025-10-27T15:10:58.028Z,1761577858.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207913 target range: 90.184692 and range: 90.60 m.
2025-10-27T15:10:58.164Z,1761577858.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012151
2025-10-27T15:10:58.386Z,1761577858.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333878,-0.927890,-0.165970],[0.942605,0.327780,0.063695],[-0.004701,-0.177710,0.984072]]
2025-10-27T15:10:58.418Z,1761577858.418 [DAT](INFO): DAT read: Rx Time:15:10:56.8438

2025-10-27T15:10:58.418Z,1761577858.418 [DAT](INFO): Rx dataTimestamp_ set to:1761577858.418051
2025-10-27T15:10:58.419Z,1761577858.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267143
2025-10-27T15:10:58.479Z,1761577858.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.18 m.
2025-10-27T15:10:58.482Z,1761577858.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.184692 m,
      nav range: 86.110565 m,
      bearing: 65.319795 deg,
      approach rate: -0.781654 m/s,
      LOS rate: -0.028857 deg/s,
      cmd heading: 69.208306 deg,
      new cmd heading: 69.169258 deg.

2025-10-27T15:10:58.487Z,1761577858.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207231 target range: 90.184692 and range: 90.60 m.
2025-10-27T15:10:58.668Z,1761577858.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515858
2025-10-27T15:10:58.811Z,1761577858.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334317,-0.927701,-0.166142],[0.942451,0.328289,0.063345],[-0.004223,-0.177758,0.984065]]
2025-10-27T15:10:58.849Z,1761577858.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.18 m.
2025-10-27T15:10:58.852Z,1761577858.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.184692 m,
      nav range: 85.826920 m,
      bearing: 65.309378 deg,
      approach rate: -0.758457 m/s,
      LOS rate: -0.027949 deg/s,
      cmd heading: 69.169257 deg,
      new cmd heading: 69.137901 deg.

2025-10-27T15:10:58.853Z,1761577858.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.206684 target range: 90.184692 and range: 90.60 m.
2025-10-27T15:10:58.926Z,1761577858.926 [DAT](INFO): DAT read: 15:10:56.8438 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 412, 0.38,-2.764, 1.991,-2.374,-2.785, PHS= 0.124,-1.462, 0.368, RAW= 157.1,  11.3, CAL= 157.2,  12.5, ROT= 352.8, -12.5

2025-10-27T15:10:58.927Z,1761577858.927 [DAT](INFO): got valid direction response:
 15:10:56.8438 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 412, 0.38,-2.764, 1.991,-2.374,-2.785, PHS= 0.124,-1.462, 0.368, RAW= 157.1,  11.3, CAL= 157.2,  12.5, ROT= 352.8, -12.5

2025-10-27T15:10:58.928Z,1761577858.928 [DAT](INFO): DAT read: Bearing 221.9,  -8.7 (Local)

2025-10-27T15:10:58.928Z,1761577858.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.9,  -8.7 (Local)

2025-10-27T15:10:58.930Z,1761577858.930 [DAT](INFO): DAT read: Range 11 to 50 : 87.8 m  (Round-trip  117.1 ms) speed  0.5 m/s

2025-10-27T15:10:58.931Z,1761577858.931 [DAT](INFO): DAT read: user:994>

2025-10-27T15:10:58.931Z,1761577858.931 [DAT](INFO): DAT read: Tx time:15:10:57.9725

2025-10-27T15:10:58.932Z,1761577858.932 [DAT](INFO): Ping request sent.
2025-10-27T15:10:58.932Z,1761577858.932 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:10:58.932Z,1761577858.932 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:10:58.933Z,1761577858.933 [DAT](INFO): direction in FSK: [0.968598,-0.122363,0.216440]
2025-10-27T15:10:58.933Z,1761577858.933 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:58.934Z,1761577858.934 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:58.945Z,1761577858.945 [DAT](INFO): publishing transmit ping time
2025-10-27T15:10:58.945Z,1761577858.945 [DAT](INFO): publishing direction and range info
2025-10-27T15:10:59.243Z,1761577859.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336096,-0.926973,-0.166616],[0.941821,0.330116,0.063225],[-0.003605,-0.178172,0.983993]]
2025-10-27T15:10:59.348Z,1761577859.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.800003 m,
      deltaT: 3.780101 s,
      deltaX: -2.799995 m,
      approachRate: -0.740720 m/s,
      rangeRepo size: 4

2025-10-27T15:10:59.350Z,1761577859.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.400848 m,
      bearing: 65.535114 deg,
      lat: 36.779289 deg,
      lon: -121.859530 deg,
      deltaT: 3.780101 s,
      deltaX: -2.783844 m,
      approachRate: -0.736447 m/s,
      posRepo size: 4

2025-10-27T15:10:59.350Z,1761577859.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.40 m.
2025-10-27T15:10:59.357Z,1761577859.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.400848 m,
      nav range: 85.415382 m,
      bearing: 65.271027 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027949 deg/s,
      cmd heading: 69.137900 deg,
      new cmd heading: 69.096483 deg.

2025-10-27T15:10:59.358Z,1761577859.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205961 target range: 87.400848 and range: 87.80 m.
2025-10-27T15:10:59.680Z,1761577859.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337463,-0.926323,-0.167464],[0.941333,0.331437,0.063582],[-0.003394,-0.179096,0.983826]]
2025-10-27T15:10:59.718Z,1761577859.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.40 m.
2025-10-27T15:10:59.738Z,1761577859.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.400848 m,
      nav range: 85.084526 m,
      bearing: 65.262544 deg,
      approach rate: -0.882116 m/s,
      LOS rate: -0.022707 deg/s,
      cmd heading: 69.096482 deg,
      new cmd heading: 69.070932 deg.

2025-10-27T15:10:59.744Z,1761577859.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205515 target range: 87.400848 and range: 87.80 m.
2025-10-27T15:11:00.078Z,1761577860.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338941,-0.925715,-0.167840],[0.940802,0.332877,0.063913],[-0.003296,-0.179567,0.983740]]
2025-10-27T15:11:00.106Z,1761577860.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:00.113Z,1761577860.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.40 m.
2025-10-27T15:11:00.120Z,1761577860.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.400848 m,
      nav range: 84.793922 m,
      bearing: 65.255345 deg,
      approach rate: -0.734517 m/s,
      LOS rate: -0.018258 deg/s,
      cmd heading: 69.070930 deg,
      new cmd heading: 69.049259 deg.

2025-10-27T15:11:00.121Z,1761577860.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205137 target range: 87.400848 and range: 87.80 m.
2025-10-27T15:11:00.180Z,1761577860.180 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:00.180Z,1761577860.180 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:00.180Z,1761577860.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:00.432Z,1761577860.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500056
2025-10-27T15:11:00.482Z,1761577860.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340300,-0.925159,-0.168159],[0.940312,0.334213,0.064156],[-0.003154,-0.179954,0.983670]]
2025-10-27T15:11:00.531Z,1761577860.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.40 m.
2025-10-27T15:11:00.534Z,1761577860.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.400848 m,
      nav range: 84.482788 m,
      bearing: 65.249853 deg,
      approach rate: -0.744986 m/s,
      LOS rate: -0.013199 deg/s,
      cmd heading: 69.049258 deg,
      new cmd heading: 69.032720 deg.

2025-10-27T15:11:00.551Z,1761577860.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204848 target range: 87.400848 and range: 87.80 m.
2025-10-27T15:11:00.684Z,1761577860.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752205
2025-10-27T15:11:00.929Z,1761577860.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.40 m.
2025-10-27T15:11:00.938Z,1761577860.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006289
2025-10-27T15:11:00.940Z,1761577860.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.400848 m,
      nav range: 84.189079 m,
      bearing: 65.244631 deg,
      approach rate: -0.738429 m/s,
      LOS rate: -0.013175 deg/s,
      cmd heading: 69.032722 deg,
      new cmd heading: 69.017001 deg.

2025-10-27T15:11:00.954Z,1761577860.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204574 target range: 87.400848 and range: 87.80 m.
2025-10-27T15:11:01.188Z,1761577861.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256001
2025-10-27T15:11:01.348Z,1761577861.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342966,-0.924249,-0.167744],[0.939345,0.336988,0.063802],[-0.002441,-0.179451,0.983764]]
2025-10-27T15:11:01.384Z,1761577861.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.40 m.
2025-10-27T15:11:01.407Z,1761577861.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.400848 m,
      nav range: 83.852287 m,
      bearing: 65.244097 deg,
      approach rate: -0.739185 m/s,
      LOS rate: -0.001175 deg/s,
      cmd heading: 69.016999 deg,
      new cmd heading: 69.015392 deg.

2025-10-27T15:11:01.408Z,1761577861.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204546 target range: 87.400848 and range: 87.80 m.
2025-10-27T15:11:01.440Z,1761577861.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508254
2025-10-27T15:11:01.696Z,1761577861.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763841
2025-10-27T15:11:01.761Z,1761577861.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344010,-0.924125,-0.166283],[0.938964,0.338199,0.062998],[-0.001981,-0.177806,0.984064]]
2025-10-27T15:11:01.789Z,1761577861.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.40 m.
2025-10-27T15:11:01.792Z,1761577861.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.400848 m,
      nav range: 83.553116 m,
      bearing: 65.243859 deg,
      approach rate: -0.739553 m/s,
      LOS rate: -0.000592 deg/s,
      cmd heading: 69.015394 deg,
      new cmd heading: 69.014676 deg.

2025-10-27T15:11:01.793Z,1761577861.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204533 target range: 87.400848 and range: 87.80 m.
2025-10-27T15:11:01.944Z,1761577861.944 [DAT](INFO): DAT read: Rx Time:15:11:00.4903

2025-10-27T15:11:01.944Z,1761577861.944 [DAT](INFO): Rx dataTimestamp_ set to:1761577861.944181
2025-10-27T15:11:01.945Z,1761577861.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013189
2025-10-27T15:11:02.158Z,1761577862.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345447,-0.923552,-0.166489],[0.938437,0.339645,0.063070],[-0.001701,-0.178027,0.984024]]
2025-10-27T15:11:02.175Z,1761577862.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:02.177Z,1761577862.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.40 m.
2025-10-27T15:11:02.180Z,1761577862.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.400848 m,
      nav range: 83.266167 m,
      bearing: 65.243929 deg,
      approach rate: -0.738741 m/s,
      LOS rate: 0.000182 deg/s,
      cmd heading: 69.014677 deg,
      new cmd heading: 69.014889 deg.

2025-10-27T15:11:02.181Z,1761577862.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204537 target range: 87.400848 and range: 87.80 m.
2025-10-27T15:11:02.196Z,1761577862.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264269
2025-10-27T15:11:02.454Z,1761577862.454 [DAT](INFO): DAT read: 15:11:00.4902 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 408,-0.17,-1.196,-2.716,-0.821,-1.266, PHS= 0.173,-1.405, 0.401, RAW= 156.7,   9.8, CAL= 156.5,  10.6, ROT= 353.5, -10.6

2025-10-27T15:11:02.462Z,1761577862.462 [DAT](INFO): got valid direction response:
 15:11:00.4902 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 408,-0.17,-1.196,-2.716,-0.821,-1.266, PHS= 0.173,-1.405, 0.401, RAW= 156.7,   9.8, CAL= 156.5,  10.6, ROT= 353.5, -10.6

2025-10-27T15:11:02.468Z,1761577862.468 [DAT](INFO): DAT read: Bearing 220.4,  -7.3 (Local)

2025-10-27T15:11:02.468Z,1761577862.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.4,  -7.3 (Local)

2025-10-27T15:11:02.470Z,1761577862.470 [DAT](INFO): DAT read: Range 11 to 50 : 85.2 m  (Round-trip  113.6 ms) speed  0.6 m/s

2025-10-27T15:11:02.470Z,1761577862.470 [DAT](INFO): DAT read: user:995>

2025-10-27T15:11:02.471Z,1761577862.471 [DAT](INFO): DAT read: Tx time:15:11:01.6224

2025-10-27T15:11:02.472Z,1761577862.472 [DAT](INFO): Ping request sent.
2025-10-27T15:11:02.472Z,1761577862.472 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:02.472Z,1761577862.472 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:02.473Z,1761577862.473 [DAT](INFO): direction in FSK: [0.976617,-0.111272,0.183951]
2025-10-27T15:11:02.473Z,1761577862.473 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:02.474Z,1761577862.474 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:02.501Z,1761577862.501 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:02.501Z,1761577862.501 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:02.562Z,1761577862.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346652,-0.923285,-0.165460],[0.937993,0.340993,0.062391],[-0.001184,-0.176828,0.984241]]
2025-10-27T15:11:02.656Z,1761577862.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.199997 m,
      deltaT: 3.528245 s,
      deltaX: -2.600006 m,
      approachRate: -0.736912 m/s,
      rangeRepo size: 4

2025-10-27T15:11:02.658Z,1761577862.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.812660 m,
      bearing: 65.210887 deg,
      lat: 36.779290 deg,
      lon: -121.859530 deg,
      deltaT: 3.528245 s,
      deltaX: -2.588188 m,
      approachRate: -0.733562 m/s,
      posRepo size: 4

2025-10-27T15:11:02.663Z,1761577862.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.81 m.
2025-10-27T15:11:02.666Z,1761577862.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.812660 m,
      nav range: 82.982567 m,
      bearing: 65.171110 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000182 deg/s,
      cmd heading: 69.014888 deg,
      new cmd heading: 69.015147 deg.

2025-10-27T15:11:02.667Z,1761577862.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204542 target range: 84.812660 and range: 85.20 m.
2025-10-27T15:11:02.968Z,1761577862.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347930,-0.922811,-0.165422],[0.937520,0.342319,0.062239],[-0.000807,-0.176741,0.984257]]
2025-10-27T15:11:02.986Z,1761577862.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.81 m.
2025-10-27T15:11:03.005Z,1761577863.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.812660 m,
      nav range: 82.728188 m,
      bearing: 65.170177 deg,
      approach rate: -0.759226 m/s,
      LOS rate: -0.002794 deg/s,
      cmd heading: 69.015148 deg,
      new cmd heading: 69.012340 deg.

2025-10-27T15:11:03.006Z,1761577863.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204493 target range: 84.812660 and range: 85.20 m.
2025-10-27T15:11:03.390Z,1761577863.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349320,-0.922329,-0.165182],[0.937003,0.343754,0.062112],[-0.000506,-0.176474,0.984305]]
2025-10-27T15:11:03.446Z,1761577863.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.81 m.
2025-10-27T15:11:03.449Z,1761577863.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.812660 m,
      nav range: 82.389191 m,
      bearing: 65.164865 deg,
      approach rate: -0.737704 m/s,
      LOS rate: -0.011607 deg/s,
      cmd heading: 69.012341 deg,
      new cmd heading: 68.996340 deg.

2025-10-27T15:11:03.450Z,1761577863.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204213 target range: 84.812660 and range: 85.20 m.
2025-10-27T15:11:03.774Z,1761577863.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350488,-0.921811,-0.165597],[0.936567,0.344980,0.061890],[0.000077,-0.176785,0.984249]]
2025-10-27T15:11:03.815Z,1761577863.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.81 m.
2025-10-27T15:11:03.824Z,1761577863.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.812660 m,
      nav range: 82.126007 m,
      bearing: 65.160938 deg,
      approach rate: -0.722357 m/s,
      LOS rate: -0.010812 deg/s,
      cmd heading: 68.996338 deg,
      new cmd heading: 68.984520 deg.

2025-10-27T15:11:03.826Z,1761577863.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204007 target range: 84.812660 and range: 85.20 m.
2025-10-27T15:11:04.178Z,1761577864.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351686,-0.921319,-0.165797],[0.936118,0.346227,0.061725],[0.000535,-0.176914,0.984226]]
2025-10-27T15:11:04.195Z,1761577864.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:04.197Z,1761577864.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.81 m.
2025-10-27T15:11:04.200Z,1761577864.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.812660 m,
      nav range: 81.824120 m,
      bearing: 65.156673 deg,
      approach rate: -0.780234 m/s,
      LOS rate: -0.011065 deg/s,
      cmd heading: 68.984521 deg,
      new cmd heading: 68.971678 deg.

2025-10-27T15:11:04.201Z,1761577864.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203783 target range: 84.812660 and range: 85.20 m.
2025-10-27T15:11:04.212Z,1761577864.212 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:04.212Z,1761577864.212 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:04.212Z,1761577864.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:04.464Z,1761577864.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992319
2025-10-27T15:11:04.584Z,1761577864.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352743,-0.920997,-0.165341],[0.935720,0.347373,0.061324],[0.000956,-0.176344,0.984328]]
2025-10-27T15:11:04.620Z,1761577864.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.81 m.
2025-10-27T15:11:04.623Z,1761577864.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.812660 m,
      nav range: 81.502914 m,
      bearing: 65.152625 deg,
      approach rate: -0.759573 m/s,
      LOS rate: -0.009610 deg/s,
      cmd heading: 68.971681 deg,
      new cmd heading: 68.959489 deg.

2025-10-27T15:11:04.640Z,1761577864.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203570 target range: 84.812660 and range: 85.20 m.
2025-10-27T15:11:04.716Z,1761577864.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244321
2025-10-27T15:11:04.968Z,1761577864.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496191
2025-10-27T15:11:04.991Z,1761577864.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353570,-0.920671,-0.165392],[0.935407,0.348286,0.060913],[0.001523,-0.176245,0.984345]]
2025-10-27T15:11:05.010Z,1761577865.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.81 m.
2025-10-27T15:11:05.013Z,1761577865.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.812660 m,
      nav range: 81.206932 m,
      bearing: 65.149053 deg,
      approach rate: -0.759091 m/s,
      LOS rate: -0.009196 deg/s,
      cmd heading: 68.959489 deg,
      new cmd heading: 68.948732 deg.

2025-10-27T15:11:05.014Z,1761577865.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203382 target range: 84.812660 and range: 85.20 m.
2025-10-27T15:11:05.224Z,1761577865.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752281
2025-10-27T15:11:05.419Z,1761577865.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354209,-0.920377,-0.165657],[0.935164,0.349020,0.060445],[0.002186,-0.176327,0.984329]]
2025-10-27T15:11:05.472Z,1761577865.472 [DAT](INFO): DAT read: Rx Time:15:11:04.1363

2025-10-27T15:11:05.473Z,1761577865.473 [DAT](INFO): Rx dataTimestamp_ set to:1761577865.472304
2025-10-27T15:11:05.473Z,1761577865.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001491
2025-10-27T15:11:05.489Z,1761577865.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.81 m.
2025-10-27T15:11:05.504Z,1761577865.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.812660 m,
      nav range: 80.855713 m,
      bearing: 65.143487 deg,
      approach rate: -0.733406 m/s,
      LOS rate: -0.011672 deg/s,
      cmd heading: 68.948731 deg,
      new cmd heading: 68.931962 deg.

2025-10-27T15:11:05.505Z,1761577865.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203090 target range: 84.812660 and range: 85.20 m.
2025-10-27T15:11:05.725Z,1761577865.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252532
2025-10-27T15:11:05.840Z,1761577865.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354604,-0.920214,-0.165717],[0.935012,0.349530,0.059846],[0.002852,-0.176169,0.984356]]
2025-10-27T15:11:05.858Z,1761577865.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.81 m.
2025-10-27T15:11:05.861Z,1761577865.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.812660 m,
      nav range: 80.537689 m,
      bearing: 65.138503 deg,
      approach rate: -0.860486 m/s,
      LOS rate: -0.013539 deg/s,
      cmd heading: 68.931963 deg,
      new cmd heading: 68.916951 deg.

2025-10-27T15:11:05.862Z,1761577865.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202828 target range: 84.812660 and range: 85.20 m.
2025-10-27T15:11:05.976Z,1761577865.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504846
2025-10-27T15:11:06.233Z,1761577866.233 [DAT](INFO): DAT read: 15:11:04.1363 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 400, 0.05, 1.760, 0.189, 2.150, 1.667, PHS= 0.194,-1.433, 0.439, RAW= 156.9,   9.1, CAL= 156.6,   9.7, ROT= 353.4,  -9.7

2025-10-27T15:11:06.235Z,1761577866.235 [DAT](INFO): got valid direction response:
 15:11:04.1363 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 400, 0.05, 1.760, 0.189, 2.150, 1.667, PHS= 0.194,-1.433, 0.439, RAW= 156.9,   9.1, CAL= 156.6,   9.7, ROT= 353.4,  -9.7

2025-10-27T15:11:06.236Z,1761577866.236 [DAT](INFO): DAT read: Bearing 220.0,  -7.2 (Local)

2025-10-27T15:11:06.236Z,1761577866.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.0,  -7.2 (Local)

2025-10-27T15:11:06.237Z,1761577866.237 [DAT](INFO): DAT read: Range 11 to 50 : 82.2 m  (Round-trip  109.7 ms) speed  0.6 m/s

2025-10-27T15:11:06.238Z,1761577866.238 [DAT](INFO): DAT read: user:996>

2025-10-27T15:11:06.239Z,1761577866.239 [DAT](INFO): DAT read: Tx time:15:11:05.2224

2025-10-27T15:11:06.239Z,1761577866.239 [DAT](INFO): Ping request sent.
2025-10-27T15:11:06.239Z,1761577866.239 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:06.240Z,1761577866.240 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:06.241Z,1761577866.241 [DAT](INFO): direction in FSK: [0.979171,-0.113294,0.168489]
2025-10-27T15:11:06.241Z,1761577866.241 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:06.241Z,1761577866.241 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:06.244Z,1761577866.244 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:06.245Z,1761577866.245 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:06.274Z,1761577866.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354669,-0.920196,-0.165680],[0.934985,0.349760,0.058924],[0.003726,-0.175807,0.984418]]
2025-10-27T15:11:06.398Z,1761577866.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.199997 m,
      deltaT: 3.779431 s,
      deltaX: -3.000000 m,
      approachRate: -0.793770 m/s,
      rangeRepo size: 4

2025-10-27T15:11:06.406Z,1761577866.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.826363 m,
      bearing: 64.441637 deg,
      lat: 36.779297 deg,
      lon: -121.859533 deg,
      deltaT: 3.779431 s,
      deltaX: -2.986298 m,
      approachRate: -0.790145 m/s,
      posRepo size: 4

2025-10-27T15:11:06.411Z,1761577866.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.83 m.
2025-10-27T15:11:06.414Z,1761577866.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.826363 m,
      nav range: 80.316887 m,
      bearing: 64.629369 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013539 deg/s,
      cmd heading: 68.916950 deg,
      new cmd heading: 68.895534 deg.

2025-10-27T15:11:06.426Z,1761577866.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202454 target range: 81.826363 and range: 82.20 m.
2025-10-27T15:11:06.770Z,1761577866.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354793,-0.920091,-0.165996],[0.934933,0.350027,0.058142],[0.004608,-0.175824,0.984411]]
2025-10-27T15:11:06.842Z,1761577866.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:06.849Z,1761577866.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.83 m.
2025-10-27T15:11:06.856Z,1761577866.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.826363 m,
      nav range: 79.883850 m,
      bearing: 64.614122 deg,
      approach rate: -0.934772 m/s,
      LOS rate: -0.033091 deg/s,
      cmd heading: 68.895538 deg,
      new cmd heading: 68.849549 deg.

2025-10-27T15:11:06.857Z,1761577866.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.201651 target range: 81.826363 and range: 82.20 m.
2025-10-27T15:11:06.984Z,1761577866.984 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:06.984Z,1761577866.984 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:06.984Z,1761577866.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:07.189Z,1761577867.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354723,-0.920063,-0.166301],[0.934955,0.350125,0.057206],[0.005593,-0.175776,0.984414]]
2025-10-27T15:11:07.208Z,1761577867.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.83 m.
2025-10-27T15:11:07.210Z,1761577867.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.826363 m,
      nav range: 79.584282 m,
      bearing: 64.603462 deg,
      approach rate: -0.834719 m/s,
      LOS rate: -0.029816 deg/s,
      cmd heading: 68.849550 deg,
      new cmd heading: 68.817449 deg.

2025-10-27T15:11:07.212Z,1761577867.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.201091 target range: 81.826363 and range: 82.20 m.
2025-10-27T15:11:07.236Z,1761577867.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996972
2025-10-27T15:11:07.488Z,1761577867.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248706
2025-10-27T15:11:07.590Z,1761577867.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354949,-0.919934,-0.166533],[0.934864,0.350472,0.056554],[0.006339,-0.175759,0.984413]]
2025-10-27T15:11:07.649Z,1761577867.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.83 m.
2025-10-27T15:11:07.656Z,1761577867.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.826363 m,
      nav range: 79.251381 m,
      bearing: 64.591449 deg,
      approach rate: -0.753874 m/s,
      LOS rate: -0.027317 deg/s,
      cmd heading: 68.817448 deg,
      new cmd heading: 68.781260 deg.

2025-10-27T15:11:07.657Z,1761577867.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.200459 target range: 81.826363 and range: 82.20 m.
2025-10-27T15:11:07.742Z,1761577867.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502412
2025-10-27T15:11:07.992Z,1761577867.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752592
2025-10-27T15:11:08.061Z,1761577868.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.83 m.
2025-10-27T15:11:08.063Z,1761577868.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.826363 m,
      nav range: 78.912575 m,
      bearing: 64.579119 deg,
      approach rate: -0.823678 m/s,
      LOS rate: -0.030104 deg/s,
      cmd heading: 68.781262 deg,
      new cmd heading: 68.744113 deg.

2025-10-27T15:11:08.064Z,1761577868.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.199811 target range: 81.826363 and range: 82.20 m.
2025-10-27T15:11:08.244Z,1761577868.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004734
2025-10-27T15:11:08.496Z,1761577868.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256705
2025-10-27T15:11:08.535Z,1761577868.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.83 m.
2025-10-27T15:11:08.542Z,1761577868.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.826363 m,
      nav range: 78.562302 m,
      bearing: 64.562912 deg,
      approach rate: -0.744885 m/s,
      LOS rate: -0.034621 deg/s,
      cmd heading: 68.744112 deg,
      new cmd heading: 68.695273 deg.

2025-10-27T15:11:08.547Z,1761577868.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198959 target range: 81.826363 and range: 82.20 m.
2025-10-27T15:11:08.749Z,1761577868.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509239
2025-10-27T15:11:08.854Z,1761577868.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354407,-0.920457,-0.164787],[0.935052,0.350473,0.053362],[0.008635,-0.172996,0.984885]]
2025-10-27T15:11:08.872Z,1761577868.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:08.874Z,1761577868.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.83 m.
2025-10-27T15:11:08.876Z,1761577868.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.826363 m,
      nav range: 78.279190 m,
      bearing: 64.549585 deg,
      approach rate: -0.825976 m/s,
      LOS rate: -0.039022 deg/s,
      cmd heading: 68.695270 deg,
      new cmd heading: 68.655144 deg.

2025-10-27T15:11:08.877Z,1761577868.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198258 target range: 81.826363 and range: 82.20 m.
2025-10-27T15:11:09.000Z,1761577869.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760811
2025-10-27T15:11:09.252Z,1761577869.252 [DAT](INFO): DAT read: Rx Time:15:11:07.7327

2025-10-27T15:11:09.252Z,1761577869.252 [DAT](INFO): Rx dataTimestamp_ set to:1761577869.251991
2025-10-27T15:11:09.253Z,1761577869.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013540
2025-10-27T15:11:09.257Z,1761577869.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354250,-0.920522,-0.164763],[0.935105,0.350436,0.052660],[0.009264,-0.172725,0.984927]]
2025-10-27T15:11:09.277Z,1761577869.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.83 m.
2025-10-27T15:11:09.279Z,1761577869.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.826363 m,
      nav range: 77.968575 m,
      bearing: 64.534814 deg,
      approach rate: -0.770812 m/s,
      LOS rate: -0.036801 deg/s,
      cmd heading: 68.655142 deg,
      new cmd heading: 68.610653 deg.

2025-10-27T15:11:09.280Z,1761577869.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.197482 target range: 81.826363 and range: 82.20 m.
2025-10-27T15:11:09.504Z,1761577869.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264942
2025-10-27T15:11:09.661Z,1761577869.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354194,-0.920694,-0.163919],[0.935122,0.350500,0.051925],[0.009647,-0.171676,0.985106]]
2025-10-27T15:11:09.743Z,1761577869.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.83 m.
2025-10-27T15:11:09.751Z,1761577869.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.826363 m,
      nav range: 77.618813 m,
      bearing: 64.521736 deg,
      approach rate: -0.757010 m/s,
      LOS rate: -0.028433 deg/s,
      cmd heading: 68.610650 deg,
      new cmd heading: 68.571240 deg.

2025-10-27T15:11:09.753Z,1761577869.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.196794 target range: 81.826363 and range: 82.20 m.
2025-10-27T15:11:09.762Z,1761577869.762 [DAT](INFO): DAT read: 15:11:07.7327 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 411, 0.25, 2.833, 1.267,-3.086, 2.788, PHS= 0.148,-1.475, 0.365, RAW= 156.2,  11.1, CAL= 156.2,  12.2, ROT= 353.8, -12.2

2025-10-27T15:11:09.763Z,1761577869.763 [DAT](INFO): got valid direction response:
 15:11:07.7327 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 411, 0.25, 2.833, 1.267,-3.086, 2.788, PHS= 0.148,-1.475, 0.365, RAW= 156.2,  11.1, CAL= 156.2,  12.2, ROT= 353.8, -12.2

2025-10-27T15:11:09.764Z,1761577869.764 [DAT](INFO): DAT read: Bearing 222.9,  -6.7 (Local)

2025-10-27T15:11:09.764Z,1761577869.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.9,  -6.7 (Local)

2025-10-27T15:11:09.766Z,1761577869.766 [DAT](INFO): DAT read: Range 11 to 50 : 79.5 m  (Round-trip  106.1 ms) speed  0.4 m/s

2025-10-27T15:11:09.767Z,1761577869.767 [DAT](INFO): DAT read: user:997>

2025-10-27T15:11:09.767Z,1761577869.767 [DAT](INFO): DAT read: Tx time:15:11:08.8224

2025-10-27T15:11:09.768Z,1761577869.768 [DAT](INFO): Ping request sent.
2025-10-27T15:11:09.768Z,1761577869.768 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:09.768Z,1761577869.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:09.769Z,1761577869.769 [DAT](INFO): direction in FSK: [0.971699,-0.105560,0.211325]
2025-10-27T15:11:09.769Z,1761577869.769 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:09.770Z,1761577869.770 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:09.773Z,1761577869.773 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:09.773Z,1761577869.773 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:10.126Z,1761577870.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353459,-0.921207,-0.162619],[0.935394,0.349966,0.050621],[0.010278,-0.170006,0.985389]]
2025-10-27T15:11:10.149Z,1761577870.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.500000 m,
      deltaT: 3.528339 s,
      deltaX: -2.699997 m,
      approachRate: -0.765232 m/s,
      rangeRepo size: 4

2025-10-27T15:11:10.152Z,1761577870.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.139404 m,
      bearing: 65.281403 deg,
      lat: 36.779290 deg,
      lon: -121.859533 deg,
      deltaT: 3.528339 s,
      deltaX: -2.686958 m,
      approachRate: -0.761536 m/s,
      posRepo size: 4

2025-10-27T15:11:10.152Z,1761577870.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.14 m.
2025-10-27T15:11:10.155Z,1761577870.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.139404 m,
      nav range: 76.990799 m,
      bearing: 64.973762 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028433 deg/s,
      cmd heading: 68.571240 deg,
      new cmd heading: 68.536269 deg.

2025-10-27T15:11:10.156Z,1761577870.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.196184 target range: 79.139404 and range: 79.50 m.
2025-10-27T15:11:10.528Z,1761577870.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353557,-0.921464,-0.160938],[0.935356,0.350163,0.049954],[0.010324,-0.168196,0.985699]]
2025-10-27T15:11:10.570Z,1761577870.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.14 m.
2025-10-27T15:11:10.573Z,1761577870.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.139404 m,
      nav range: 76.669296 m,
      bearing: 64.965892 deg,
      approach rate: -0.762420 m/s,
      LOS rate: -0.018740 deg/s,
      cmd heading: 68.536270 deg,
      new cmd heading: 68.512562 deg.

2025-10-27T15:11:10.574Z,1761577870.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195770 target range: 79.139404 and range: 79.50 m.
2025-10-27T15:11:10.985Z,1761577870.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:10.987Z,1761577870.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.14 m.
2025-10-27T15:11:10.990Z,1761577870.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.139404 m,
      nav range: 76.354866 m,
      bearing: 64.958132 deg,
      approach rate: -0.754786 m/s,
      LOS rate: -0.018706 deg/s,
      cmd heading: 68.512562 deg,
      new cmd heading: 68.489185 deg.

2025-10-27T15:11:10.991Z,1761577870.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195362 target range: 79.139404 and range: 79.50 m.
2025-10-27T15:11:11.033Z,1761577871.033 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:11.033Z,1761577871.033 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:11.033Z,1761577871.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:11.284Z,1761577871.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516079
2025-10-27T15:11:11.336Z,1761577871.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354693,-0.921042,-0.160857],[0.934922,0.351346,0.049771],[0.010675,-0.168042,0.985722]]
2025-10-27T15:11:11.370Z,1761577871.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.14 m.
2025-10-27T15:11:11.377Z,1761577871.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.139404 m,
      nav range: 76.077087 m,
      bearing: 64.951477 deg,
      approach rate: -0.724208 m/s,
      LOS rate: -0.017413 deg/s,
      cmd heading: 68.489182 deg,
      new cmd heading: 68.469145 deg.

2025-10-27T15:11:11.378Z,1761577871.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195012 target range: 79.139404 and range: 79.50 m.
2025-10-27T15:11:11.536Z,1761577871.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768465
2025-10-27T15:11:11.744Z,1761577871.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355554,-0.920703,-0.160895],[0.934594,0.352210,0.049832],[0.010789,-0.168089,0.985713]]
2025-10-27T15:11:11.788Z,1761577871.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020144
2025-10-27T15:11:11.801Z,1761577871.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.14 m.
2025-10-27T15:11:11.822Z,1761577871.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.139404 m,
      nav range: 75.748291 m,
      bearing: 64.947384 deg,
      approach rate: -0.764517 m/s,
      LOS rate: -0.009559 deg/s,
      cmd heading: 68.469143 deg,
      new cmd heading: 68.456809 deg.

2025-10-27T15:11:11.828Z,1761577871.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194797 target range: 79.139404 and range: 79.50 m.
2025-10-27T15:11:12.040Z,1761577872.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272103
2025-10-27T15:11:12.163Z,1761577872.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356660,-0.920236,-0.161116],[0.934172,0.353282,0.050143],[0.010776,-0.168395,0.985661]]
2025-10-27T15:11:12.182Z,1761577872.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.14 m.
2025-10-27T15:11:12.185Z,1761577872.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.139404 m,
      nav range: 75.456970 m,
      bearing: 64.943988 deg,
      approach rate: -0.764110 m/s,
      LOS rate: -0.008940 deg/s,
      cmd heading: 68.456807 deg,
      new cmd heading: 68.446581 deg.

2025-10-27T15:11:12.186Z,1761577872.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194618 target range: 79.139404 and range: 79.50 m.
2025-10-27T15:11:12.295Z,1761577872.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526515
2025-10-27T15:11:12.544Z,1761577872.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776015
2025-10-27T15:11:12.566Z,1761577872.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357720,-0.919620,-0.162285],[0.933765,0.354284,0.050648],[0.010918,-0.169654,0.985443]]
2025-10-27T15:11:12.613Z,1761577872.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.14 m.
2025-10-27T15:11:12.616Z,1761577872.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.139404 m,
      nav range: 75.137207 m,
      bearing: 64.941599 deg,
      approach rate: -0.741007 m/s,
      LOS rate: -0.005560 deg/s,
      cmd heading: 68.446582 deg,
      new cmd heading: 68.439385 deg.

2025-10-27T15:11:12.617Z,1761577872.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194493 target range: 79.139404 and range: 79.50 m.
2025-10-27T15:11:12.797Z,1761577872.797 [DAT](INFO): DAT read: Rx Time:15:11:11.3291

2025-10-27T15:11:12.798Z,1761577872.798 [DAT](INFO): Rx dataTimestamp_ set to:1761577872.797541
2025-10-27T15:11:12.800Z,1761577872.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030917
2025-10-27T15:11:13.048Z,1761577873.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280039
2025-10-27T15:11:13.076Z,1761577873.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359027,-0.919038,-0.162691],[0.933265,0.355522,0.051199],[0.010787,-0.170215,0.985348]]
2025-10-27T15:11:13.093Z,1761577873.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:13.095Z,1761577873.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.14 m.
2025-10-27T15:11:13.098Z,1761577873.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.139404 m,
      nav range: 74.780937 m,
      bearing: 64.939292 deg,
      approach rate: -0.739706 m/s,
      LOS rate: -0.004814 deg/s,
      cmd heading: 68.439383 deg,
      new cmd heading: 68.432428 deg.

2025-10-27T15:11:13.099Z,1761577873.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194371 target range: 79.139404 and range: 79.50 m.
2025-10-27T15:11:13.310Z,1761577873.310 [DAT](INFO): DAT read: 15:11:11.3291 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 407,-0.13,-1.347,-2.879,-0.947,-1.354, PHS= 0.109,-1.480, 0.363, RAW= 157.3,  11.6, CAL= 157.5,  12.9, ROT= 352.5, -12.9

2025-10-27T15:11:13.313Z,1761577873.313 [DAT](INFO): got valid direction response:
 15:11:11.3291 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 407,-0.13,-1.347,-2.879,-0.947,-1.354, PHS= 0.109,-1.480, 0.363, RAW= 157.3,  11.6, CAL= 157.5,  12.9, ROT= 352.5, -12.9

2025-10-27T15:11:13.314Z,1761577873.314 [DAT](INFO): DAT read: Bearing 224.3,  -7.5 (Local)

2025-10-27T15:11:13.315Z,1761577873.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.3,  -7.5 (Local)

2025-10-27T15:11:13.318Z,1761577873.318 [DAT](INFO): DAT read: Range 11 to 50 : 76.9 m  (Round-trip  102.6 ms) speed  0.7 m/s

2025-10-27T15:11:13.320Z,1761577873.320 [DAT](INFO): DAT read: user:998>

2025-10-27T15:11:13.320Z,1761577873.320 [DAT](INFO): DAT read: Tx time:15:11:12.4224

2025-10-27T15:11:13.321Z,1761577873.321 [DAT](INFO): Ping request sent.
2025-10-27T15:11:13.321Z,1761577873.321 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:13.321Z,1761577873.321 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:13.322Z,1761577873.322 [DAT](INFO): direction in FSK: [0.966422,-0.127232,0.223250]
2025-10-27T15:11:13.322Z,1761577873.322 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:13.322Z,1761577873.322 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:13.327Z,1761577873.327 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:13.328Z,1761577873.328 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:13.606Z,1761577873.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.900002 m,
      deltaT: 3.544188 s,
      deltaX: -2.599998 m,
      approachRate: -0.733595 m/s,
      rangeRepo size: 4

2025-10-27T15:11:13.608Z,1761577873.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.551338 m,
      bearing: 63.778112 deg,
      lat: 36.779290 deg,
      lon: -121.859533 deg,
      deltaT: 3.544188 s,
      deltaX: -2.588066 m,
      approachRate: -0.730228 m/s,
      posRepo size: 4

2025-10-27T15:11:13.609Z,1761577873.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.55 m.
2025-10-27T15:11:13.612Z,1761577873.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.551338 m,
      nav range: 74.405525 m,
      bearing: 64.938652 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004814 deg/s,
      cmd heading: 68.432430 deg,
      new cmd heading: 68.425063 deg.

2025-10-27T15:11:13.613Z,1761577873.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194243 target range: 76.551338 and range: 76.90 m.
2025-10-27T15:11:14.025Z,1761577874.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361948,-0.917647,-0.164069],[0.932138,0.358279,0.052487],[0.010619,-0.171933,0.985051]]
2025-10-27T15:11:14.050Z,1761577874.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.55 m.
2025-10-27T15:11:14.053Z,1761577874.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.551338 m,
      nav range: 74.072845 m,
      bearing: 64.938869 deg,
      approach rate: -0.748353 m/s,
      LOS rate: 0.000491 deg/s,
      cmd heading: 68.425061 deg,
      new cmd heading: 68.425715 deg.

2025-10-27T15:11:14.053Z,1761577874.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194254 target range: 76.551338 and range: 76.90 m.
2025-10-27T15:11:14.426Z,1761577874.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362941,-0.917258,-0.164049],[0.931747,0.359330,0.052249],[0.011022,-0.171816,0.985067]]
2025-10-27T15:11:14.529Z,1761577874.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.55 m.
2025-10-27T15:11:14.536Z,1761577874.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.551338 m,
      nav range: 73.758385 m,
      bearing: 64.939338 deg,
      approach rate: -0.656352 m/s,
      LOS rate: 0.000984 deg/s,
      cmd heading: 68.425716 deg,
      new cmd heading: 68.427130 deg.

2025-10-27T15:11:14.537Z,1761577874.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194279 target range: 76.551338 and range: 76.90 m.
2025-10-27T15:11:14.839Z,1761577874.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363659,-0.916887,-0.164534],[0.931450,0.360263,0.051110],[0.012414,-0.171842,0.985046]]
2025-10-27T15:11:14.883Z,1761577874.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.55 m.
2025-10-27T15:11:14.886Z,1761577874.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.551338 m,
      nav range: 73.453026 m,
      bearing: 64.938607 deg,
      approach rate: -0.860908 m/s,
      LOS rate: -0.002071 deg/s,
      cmd heading: 68.427130 deg,
      new cmd heading: 68.424927 deg.

2025-10-27T15:11:14.887Z,1761577874.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194240 target range: 76.551338 and range: 76.90 m.
2025-10-27T15:11:15.243Z,1761577875.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364021,-0.916625,-0.165190],[0.931291,0.360814,0.050110],[0.013671,-0.172081,0.984988]]
2025-10-27T15:11:15.260Z,1761577875.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:15.262Z,1761577875.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.55 m.
2025-10-27T15:11:15.265Z,1761577875.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.551338 m,
      nav range: 73.170860 m,
      bearing: 64.938012 deg,
      approach rate: -0.745706 m/s,
      LOS rate: -0.001579 deg/s,
      cmd heading: 68.424924 deg,
      new cmd heading: 68.423131 deg.

2025-10-27T15:11:15.266Z,1761577875.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194209 target range: 76.551338 and range: 76.90 m.
2025-10-27T15:11:15.317Z,1761577875.317 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:15.317Z,1761577875.317 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:15.317Z,1761577875.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:15.568Z,1761577875.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247174
2025-10-27T15:11:15.645Z,1761577875.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364004,-0.916573,-0.165515],[0.931277,0.361019,0.048871],[0.014960,-0.171930,0.984996]]
2025-10-27T15:11:15.689Z,1761577875.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.55 m.
2025-10-27T15:11:15.692Z,1761577875.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.551338 m,
      nav range: 72.850136 m,
      bearing: 64.940507 deg,
      approach rate: -0.750898 m/s,
      LOS rate: 0.005868 deg/s,
      cmd heading: 68.423128 deg,
      new cmd heading: 68.430647 deg.

2025-10-27T15:11:15.693Z,1761577875.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194340 target range: 76.551338 and range: 76.90 m.
2025-10-27T15:11:15.820Z,1761577875.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499239
2025-10-27T15:11:16.050Z,1761577876.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364095,-0.916547,-0.165455],[0.931217,0.361385,0.047293],[0.016447,-0.171294,0.985083]]
2025-10-27T15:11:16.069Z,1761577876.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.55 m.
2025-10-27T15:11:16.072Z,1761577876.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751273
2025-10-27T15:11:16.073Z,1761577876.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.551338 m,
      nav range: 72.564842 m,
      bearing: 64.942776 deg,
      approach rate: -0.750925 m/s,
      LOS rate: 0.005996 deg/s,
      cmd heading: 68.430648 deg,
      new cmd heading: 68.437482 deg.

2025-10-27T15:11:16.074Z,1761577876.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194459 target range: 76.551338 and range: 76.90 m.
2025-10-27T15:11:16.324Z,1761577876.324 [DAT](INFO): DAT read: Rx Time:15:11:14.9253

2025-10-27T15:11:16.324Z,1761577876.324 [DAT](INFO): Rx dataTimestamp_ set to:1761577876.324128
2025-10-27T15:11:16.325Z,1761577876.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004232
2025-10-27T15:11:16.564Z,1761577876.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364334,-0.916508,-0.165146],[0.931089,0.361969,0.045288],[0.018271,-0.170266,0.985229]]
2025-10-27T15:11:16.576Z,1761577876.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255300
2025-10-27T15:11:16.602Z,1761577876.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.55 m.
2025-10-27T15:11:16.605Z,1761577876.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.551338 m,
      nav range: 72.154984 m,
      bearing: 64.939038 deg,
      approach rate: -0.768210 m/s,
      LOS rate: -0.007046 deg/s,
      cmd heading: 68.437485 deg,
      new cmd heading: 68.426207 deg.

2025-10-27T15:11:16.606Z,1761577876.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194263 target range: 76.551338 and range: 76.90 m.
2025-10-27T15:11:16.850Z,1761577876.850 [DAT](INFO): DAT read: 15:11:14.9253 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 400,-0.07, 1.132,-0.418, 1.529, 1.140, PHS= 0.094,-1.513, 0.344, RAW= 157.1,  12.3, CAL= 157.4,  13.8, ROT= 352.6, -13.8

2025-10-27T15:11:16.851Z,1761577876.851 [DAT](INFO): got valid direction response:
 15:11:14.9253 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 400,-0.07, 1.132,-0.418, 1.529, 1.140, PHS= 0.094,-1.513, 0.344, RAW= 157.1,  12.3, CAL= 157.4,  13.8, ROT= 352.6, -13.8

2025-10-27T15:11:16.852Z,1761577876.852 [DAT](INFO): DAT read: Bearing 225.8,  -6.7 (Local)

2025-10-27T15:11:16.852Z,1761577876.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.8,  -6.7 (Local)

2025-10-27T15:11:16.854Z,1761577876.854 [DAT](INFO): DAT read: Range 11 to 50 : 74.1 m  (Round-trip  98.8 ms) speed  0.6 m/s

2025-10-27T15:11:16.855Z,1761577876.855 [DAT](INFO): DAT read: user:999>

2025-10-27T15:11:16.856Z,1761577876.856 [DAT](INFO): DAT read: Tx time:15:11:16.0224

2025-10-27T15:11:16.856Z,1761577876.856 [DAT](INFO): Ping request sent.
2025-10-27T15:11:16.856Z,1761577876.856 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:16.856Z,1761577876.856 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:16.857Z,1761577876.857 [DAT](INFO): direction in FSK: [0.963046,-0.125077,0.238533]
2025-10-27T15:11:16.857Z,1761577876.857 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:16.858Z,1761577876.858 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:16.866Z,1761577876.866 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:16.867Z,1761577876.867 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:17.062Z,1761577877.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364262,-0.916411,-0.165842],[0.931085,0.362150,0.043898],[0.019831,-0.170403,0.985175]]
2025-10-27T15:11:17.106Z,1761577877.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.099998 m,
      deltaT: 3.530308 s,
      deltaX: -2.800003 m,
      approachRate: -0.793133 m/s,
      rangeRepo size: 4

2025-10-27T15:11:17.117Z,1761577877.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.763763 m,
      bearing: 63.704777 deg,
      lat: 36.779299 deg,
      lon: -121.859534 deg,
      deltaT: 3.530308 s,
      deltaX: -2.787575 m,
      approachRate: -0.789612 m/s,
      posRepo size: 4

2025-10-27T15:11:17.117Z,1761577877.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-10-27T15:11:17.124Z,1761577877.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.763763 m,
      nav range: 72.102623 m,
      bearing: 64.227874 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007046 deg/s,
      cmd heading: 68.426208 deg,
      new cmd heading: 68.415572 deg.

2025-10-27T15:11:17.125Z,1761577877.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194077 target range: 73.763763 and range: 74.10 m.
2025-10-27T15:11:17.592Z,1761577877.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364327,-0.916213,-0.166793],[0.931024,0.362464,0.042585],[0.021440,-0.170804,0.985072]]
2025-10-27T15:11:17.639Z,1761577877.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:17.641Z,1761577877.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-10-27T15:11:17.644Z,1761577877.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.763763 m,
      nav range: 71.682678 m,
      bearing: 64.221268 deg,
      approach rate: -0.783908 m/s,
      LOS rate: -0.012404 deg/s,
      cmd heading: 68.415573 deg,
      new cmd heading: 68.395639 deg.

2025-10-27T15:11:17.645Z,1761577877.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.193729 target range: 73.763763 and range: 74.10 m.
2025-10-27T15:11:17.836Z,1761577877.836 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:17.836Z,1761577877.836 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:17.836Z,1761577877.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:17.974Z,1761577877.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364059,-0.916261,-0.167111],[0.931068,0.362642,0.040026],[0.023927,-0.170163,0.985125]]
2025-10-27T15:11:18.005Z,1761577878.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-10-27T15:11:18.012Z,1761577878.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.763763 m,
      nav range: 71.399620 m,
      bearing: 64.216718 deg,
      approach rate: -0.778783 m/s,
      LOS rate: -0.012569 deg/s,
      cmd heading: 68.395636 deg,
      new cmd heading: 68.381931 deg.

2025-10-27T15:11:18.013Z,1761577878.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.193490 target range: 73.763763 and range: 74.10 m.
2025-10-27T15:11:18.088Z,1761577878.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232156
2025-10-27T15:11:18.340Z,1761577878.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483873
2025-10-27T15:11:18.374Z,1761577878.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363636,-0.916272,-0.167973],[0.931175,0.362590,0.037971],[0.026114,-0.170220,0.985060]]
2025-10-27T15:11:18.392Z,1761577878.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-10-27T15:11:18.395Z,1761577878.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.763763 m,
      nav range: 71.096886 m,
      bearing: 64.211706 deg,
      approach rate: -0.781204 m/s,
      LOS rate: -0.012986 deg/s,
      cmd heading: 68.381928 deg,
      new cmd heading: 68.366831 deg.

2025-10-27T15:11:18.396Z,1761577878.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.193226 target range: 73.763763 and range: 74.10 m.
2025-10-27T15:11:18.592Z,1761577878.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735996
2025-10-27T15:11:18.844Z,1761577878.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988022
2025-10-27T15:11:18.856Z,1761577878.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-10-27T15:11:18.858Z,1761577878.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.763763 m,
      nav range: 70.754707 m,
      bearing: 64.204405 deg,
      approach rate: -0.738163 m/s,
      LOS rate: -0.015828 deg/s,
      cmd heading: 68.366833 deg,
      new cmd heading: 68.344821 deg.

2025-10-27T15:11:18.868Z,1761577878.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.192842 target range: 73.763763 and range: 74.10 m.
2025-10-27T15:11:19.097Z,1761577879.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240514
2025-10-27T15:11:19.192Z,1761577879.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363451,-0.916013,-0.169773],[0.931127,0.363064,0.034446],[0.030085,-0.170600,0.984881]]
2025-10-27T15:11:19.210Z,1761577879.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-10-27T15:11:19.213Z,1761577879.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.763763 m,
      nav range: 70.466278 m,
      bearing: 64.198158 deg,
      approach rate: -0.814544 m/s,
      LOS rate: -0.017712 deg/s,
      cmd heading: 68.344819 deg,
      new cmd heading: 68.326004 deg.

2025-10-27T15:11:19.214Z,1761577879.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.192514 target range: 73.763763 and range: 74.10 m.
2025-10-27T15:11:19.348Z,1761577879.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491850
2025-10-27T15:11:19.603Z,1761577879.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747141
2025-10-27T15:11:19.627Z,1761577879.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363129,-0.916021,-0.170422],[0.931188,0.363082,0.032567],[0.032045,-0.170520,0.984833]]
2025-10-27T15:11:19.686Z,1761577879.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:19.688Z,1761577879.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-10-27T15:11:19.696Z,1761577879.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.763763 m,
      nav range: 70.114250 m,
      bearing: 64.191792 deg,
      approach rate: -0.736081 m/s,
      LOS rate: -0.013378 deg/s,
      cmd heading: 68.326002 deg,
      new cmd heading: 68.306808 deg.

2025-10-27T15:11:19.697Z,1761577879.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.192179 target range: 73.763763 and range: 74.10 m.
2025-10-27T15:11:19.852Z,1761577879.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995875
2025-10-27T15:11:20.060Z,1761577880.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-10-27T15:11:20.063Z,1761577880.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.763763 m,
      nav range: 69.811867 m,
      bearing: 64.186272 deg,
      approach rate: -0.812811 m/s,
      LOS rate: -0.014901 deg/s,
      cmd heading: 68.306809 deg,
      new cmd heading: 68.290179 deg.

2025-10-27T15:11:20.064Z,1761577880.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.191888 target range: 73.763763 and range: 74.10 m.
2025-10-27T15:11:20.105Z,1761577880.105 [DAT](INFO): DAT read: Rx Time:15:11:18.5215

2025-10-27T15:11:20.105Z,1761577880.105 [DAT](INFO): Rx dataTimestamp_ set to:1761577880.104782
2025-10-27T15:11:20.106Z,1761577880.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249952
2025-10-27T15:11:20.356Z,1761577880.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499929
2025-10-27T15:11:20.447Z,1761577880.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363004,-0.915495,-0.173486],[0.930987,0.364067,0.026809],[0.038618,-0.171245,0.984471]]
2025-10-27T15:11:20.465Z,1761577880.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-10-27T15:11:20.486Z,1761577880.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.763763 m,
      nav range: 69.500206 m,
      bearing: 64.180521 deg,
      approach rate: -0.769198 m/s,
      LOS rate: -0.014258 deg/s,
      cmd heading: 68.290178 deg,
      new cmd heading: 68.272847 deg.

2025-10-27T15:11:20.489Z,1761577880.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.191586 target range: 73.763763 and range: 74.10 m.
2025-10-27T15:11:20.620Z,1761577880.620 [DAT](INFO): DAT read: 15:11:18.5215 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 409, 0.39, 1.653, 0.161, 2.001, 1.640, PHS= 0.115,-1.433, 0.317, RAW= 156.1,  12.1, CAL= 156.2,  13.4, ROT= 353.8, -13.4

2025-10-27T15:11:20.621Z,1761577880.621 [DAT](INFO): got valid direction response:
 15:11:18.5215 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 409, 0.39, 1.653, 0.161, 2.001, 1.640, PHS= 0.115,-1.433, 0.317, RAW= 156.1,  12.1, CAL= 156.2,  13.4, ROT= 353.8, -13.4

2025-10-27T15:11:20.622Z,1761577880.622 [DAT](INFO): DAT read: Bearing 226.3,  -4.5 (Local)

2025-10-27T15:11:20.622Z,1761577880.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.3,  -4.5 (Local)

2025-10-27T15:11:20.633Z,1761577880.633 [DAT](INFO): DAT read: Range 11 to 50 : 71.2 m  (Round-trip  95.0 ms) speed  0.5 m/s

2025-10-27T15:11:20.633Z,1761577880.633 [DAT](INFO): DAT read: user:1000>

2025-10-27T15:11:20.634Z,1761577880.634 [DAT](INFO): DAT read: Tx time:15:11:19.6224

2025-10-27T15:11:20.634Z,1761577880.634 [DAT](INFO): Ping request sent.
2025-10-27T15:11:20.635Z,1761577880.635 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:20.639Z,1761577880.639 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:20.640Z,1761577880.640 [DAT](INFO): direction in FSK: [0.967086,-0.105059,0.231748]
2025-10-27T15:11:20.640Z,1761577880.640 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:20.641Z,1761577880.641 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:20.648Z,1761577880.648 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:20.648Z,1761577880.648 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:20.883Z,1761577880.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.199997 m,
      deltaT: 3.779120 s,
      deltaX: -2.900002 m,
      approachRate: -0.767375 m/s,
      rangeRepo size: 4

2025-10-27T15:11:20.885Z,1761577880.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.876854 m,
      bearing: 64.884487 deg,
      lat: 36.779299 deg,
      lon: -121.859542 deg,
      deltaT: 3.779120 s,
      deltaX: -2.886909 m,
      approachRate: -0.763911 m/s,
      posRepo size: 4

2025-10-27T15:11:20.886Z,1761577880.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.88 m.
2025-10-27T15:11:20.889Z,1761577880.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.876854 m,
      nav range: 68.525620 m,
      bearing: 63.909278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014258 deg/s,
      cmd heading: 68.272850 deg,
      new cmd heading: 68.255012 deg.

2025-10-27T15:11:20.890Z,1761577880.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.191275 target range: 70.876854 and range: 71.20 m.
2025-10-27T15:11:21.226Z,1761577881.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363041,-0.915470,-0.173540],[0.930873,0.364529,0.024371],[0.040950,-0.170391,0.984525]]
2025-10-27T15:11:21.249Z,1761577881.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.88 m.
2025-10-27T15:11:21.252Z,1761577881.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.876854 m,
      nav range: 68.236046 m,
      bearing: 63.900861 deg,
      approach rate: -0.789683 m/s,
      LOS rate: -0.023051 deg/s,
      cmd heading: 68.255009 deg,
      new cmd heading: 68.229651 deg.

2025-10-27T15:11:21.253Z,1761577881.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190832 target range: 70.876854 and range: 71.20 m.
2025-10-27T15:11:21.710Z,1761577881.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:21.728Z,1761577881.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.88 m.
2025-10-27T15:11:21.732Z,1761577881.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.876854 m,
      nav range: 67.870491 m,
      bearing: 63.887619 deg,
      approach rate: -0.765396 m/s,
      LOS rate: -0.027874 deg/s,
      cmd heading: 68.229649 deg,
      new cmd heading: 68.189710 deg.

2025-10-27T15:11:21.734Z,1761577881.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190135 target range: 70.876854 and range: 71.20 m.
2025-10-27T15:11:21.868Z,1761577881.868 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:21.868Z,1761577881.868 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:21.868Z,1761577881.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:22.124Z,1761577882.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489334
2025-10-27T15:11:22.159Z,1761577882.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362737,-0.915053,-0.176353],[0.930676,0.365381,0.018414],[0.047586,-0.170807,0.984155]]
2025-10-27T15:11:22.202Z,1761577882.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.88 m.
2025-10-27T15:11:22.209Z,1761577882.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.876854 m,
      nav range: 67.492805 m,
      bearing: 63.873721 deg,
      approach rate: -0.794659 m/s,
      LOS rate: -0.029406 deg/s,
      cmd heading: 68.189713 deg,
      new cmd heading: 68.147784 deg.

2025-10-27T15:11:22.210Z,1761577882.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.189403 target range: 70.876854 and range: 71.20 m.
2025-10-27T15:11:22.379Z,1761577882.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744823
2025-10-27T15:11:22.631Z,1761577882.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995714
2025-10-27T15:11:22.657Z,1761577882.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362632,-0.914952,-0.177093],[0.930603,0.365664,0.016382],[0.049768,-0.170744,0.984058]]
2025-10-27T15:11:22.709Z,1761577882.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.88 m.
2025-10-27T15:11:22.716Z,1761577882.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.876854 m,
      nav range: 67.102234 m,
      bearing: 63.862650 deg,
      approach rate: -0.770297 m/s,
      LOS rate: -0.021961 deg/s,
      cmd heading: 68.147782 deg,
      new cmd heading: 68.114377 deg.

2025-10-27T15:11:22.717Z,1761577882.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.188820 target range: 70.876854 and range: 71.20 m.
2025-10-27T15:11:22.880Z,1761577882.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245328
2025-10-27T15:11:23.133Z,1761577883.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498224
2025-10-27T15:11:23.190Z,1761577883.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362396,-0.914709,-0.178819],[0.930567,0.365833,0.014556],[0.052103,-0.171678,0.983774]]
2025-10-27T15:11:23.208Z,1761577883.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.88 m.
2025-10-27T15:11:23.211Z,1761577883.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.876854 m,
      nav range: 66.699303 m,
      bearing: 63.851012 deg,
      approach rate: -0.807039 m/s,
      LOS rate: -0.023452 deg/s,
      cmd heading: 68.114376 deg,
      new cmd heading: 68.079249 deg.

2025-10-27T15:11:23.212Z,1761577883.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.188207 target range: 70.876854 and range: 71.20 m.
2025-10-27T15:11:23.384Z,1761577883.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749344
2025-10-27T15:11:23.590Z,1761577883.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362362,-0.914553,-0.179686],[0.930455,0.366190,0.012585],[0.054290,-0.171750,0.983643]]
2025-10-27T15:11:23.641Z,1761577883.641 [DAT](INFO): DAT read: Rx Time:15:11:22.1180

2025-10-27T15:11:23.643Z,1761577883.643 [DAT](INFO): Rx dataTimestamp_ set to:1761577883.641642
2025-10-27T15:11:23.645Z,1761577883.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009859
2025-10-27T15:11:23.677Z,1761577883.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.88 m.
2025-10-27T15:11:23.684Z,1761577883.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.876854 m,
      nav range: 66.371338 m,
      bearing: 63.841438 deg,
      approach rate: -0.698983 m/s,
      LOS rate: -0.020504 deg/s,
      cmd heading: 68.079248 deg,
      new cmd heading: 68.050386 deg.

2025-10-27T15:11:23.685Z,1761577883.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.187703 target range: 70.876854 and range: 71.20 m.
2025-10-27T15:11:23.888Z,1761577883.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253799
2025-10-27T15:11:24.053Z,1761577884.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362061,-0.914357,-0.181281],[0.930322,0.366639,0.008790],[0.058427,-0.171832,0.983392]]
2025-10-27T15:11:24.095Z,1761577884.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:24.097Z,1761577884.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.88 m.
2025-10-27T15:11:24.100Z,1761577884.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.876854 m,
      nav range: 65.997162 m,
      bearing: 63.826974 deg,
      approach rate: -0.891288 m/s,
      LOS rate: -0.034649 deg/s,
      cmd heading: 68.050384 deg,
      new cmd heading: 68.006745 deg.

2025-10-27T15:11:24.101Z,1761577884.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186942 target range: 70.876854 and range: 71.20 m.
2025-10-27T15:11:24.153Z,1761577884.153 [DAT](INFO): DAT read: 15:11:22.1180 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 405,-0.11, 2.345, 0.849, 2.706, 2.345, PHS= 0.102,-1.451, 0.316, RAW= 156.4,  12.3, CAL= 156.6,  13.8, ROT= 353.4, -13.8

2025-10-27T15:11:24.154Z,1761577884.154 [DAT](INFO): got valid direction response:
 15:11:22.1180 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 405,-0.11, 2.345, 0.849, 2.706, 2.345, PHS= 0.102,-1.451, 0.316, RAW= 156.4,  12.3, CAL= 156.6,  13.8, ROT= 353.4, -13.8

2025-10-27T15:11:24.157Z,1761577884.157 [DAT](INFO): DAT read: Bearing 227.2,  -3.7 (Local)

2025-10-27T15:11:24.157Z,1761577884.157 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.2,  -3.7 (Local)

2025-10-27T15:11:24.159Z,1761577884.159 [DAT](INFO): DAT read: Range 11 to 50 : 68.6 m  (Round-trip  91.5 ms) speed  0.8 m/s

2025-10-27T15:11:24.160Z,1761577884.160 [DAT](INFO): DAT read: user:1001>

2025-10-27T15:11:24.161Z,1761577884.161 [DAT](INFO): DAT read: Tx time:15:11:23.2224

2025-10-27T15:11:24.161Z,1761577884.161 [DAT](INFO): Ping request sent.
2025-10-27T15:11:24.161Z,1761577884.161 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:24.162Z,1761577884.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:24.163Z,1761577884.163 [DAT](INFO): direction in FSK: [0.964698,-0.111619,0.238533]
2025-10-27T15:11:24.163Z,1761577884.163 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:24.163Z,1761577884.163 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:24.167Z,1761577884.167 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:24.171Z,1761577884.171 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:24.452Z,1761577884.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.599998 m,
      deltaT: 3.534657 s,
      deltaX: -2.599998 m,
      approachRate: -0.735573 m/s,
      rangeRepo size: 4

2025-10-27T15:11:24.454Z,1761577884.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.289108 m,
      bearing: 64.579331 deg,
      lat: 36.779289 deg,
      lon: -121.859543 deg,
      deltaT: 3.534657 s,
      deltaX: -2.587746 m,
      approachRate: -0.732107 m/s,
      posRepo size: 4

2025-10-27T15:11:24.459Z,1761577884.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.29 m.
2025-10-27T15:11:24.461Z,1761577884.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.289108 m,
      nav range: 65.116455 m,
      bearing: 64.660273 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034649 deg/s,
      cmd heading: 68.006746 deg,
      new cmd heading: 67.969965 deg.

2025-10-27T15:11:24.462Z,1761577884.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186300 target range: 68.289108 and range: 68.60 m.
2025-10-27T15:11:24.809Z,1761577884.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362007,-0.914054,-0.182911],[0.930233,0.366890,0.007619],[0.060144,-0.172908,0.983100]]
2025-10-27T15:11:24.849Z,1761577884.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.29 m.
2025-10-27T15:11:24.868Z,1761577884.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.289108 m,
      nav range: 64.795425 m,
      bearing: 64.657985 deg,
      approach rate: -0.805923 m/s,
      LOS rate: -0.005773 deg/s,
      cmd heading: 67.969965 deg,
      new cmd heading: 67.963066 deg.

2025-10-27T15:11:24.872Z,1761577884.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186179 target range: 68.289108 and range: 68.60 m.
2025-10-27T15:11:25.206Z,1761577885.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361753,-0.914105,-0.183159],[0.930218,0.366961,0.005831],[0.061882,-0.172487,0.983066]]
2025-10-27T15:11:25.225Z,1761577885.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.29 m.
2025-10-27T15:11:25.228Z,1761577885.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.289108 m,
      nav range: 64.500290 m,
      bearing: 64.655806 deg,
      approach rate: -0.785486 m/s,
      LOS rate: -0.005825 deg/s,
      cmd heading: 67.963067 deg,
      new cmd heading: 67.956500 deg.

2025-10-27T15:11:25.229Z,1761577885.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186065 target range: 68.289108 and range: 68.60 m.
2025-10-27T15:11:25.710Z,1761577885.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.29 m.
2025-10-27T15:11:25.713Z,1761577885.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.289108 m,
      nav range: 64.160751 m,
      bearing: 64.653274 deg,
      approach rate: -0.705003 m/s,
      LOS rate: -0.005284 deg/s,
      cmd heading: 67.956503 deg,
      new cmd heading: 67.948868 deg.

2025-10-27T15:11:25.714Z,1761577885.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185931 target range: 68.289108 and range: 68.60 m.
2025-10-27T15:11:26.018Z,1761577886.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360881,-0.914426,-0.183278],[0.930334,0.366706,0.002258],[0.065144,-0.171325,0.983058]]
2025-10-27T15:11:26.090Z,1761577886.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.29 m.
2025-10-27T15:11:26.093Z,1761577886.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.289108 m,
      nav range: 63.829704 m,
      bearing: 64.648095 deg,
      approach rate: -0.863554 m/s,
      LOS rate: -0.013581 deg/s,
      cmd heading: 67.948867 deg,
      new cmd heading: 67.933247 deg.

2025-10-27T15:11:26.094Z,1761577886.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185659 target range: 68.289108 and range: 68.60 m.
2025-10-27T15:11:26.419Z,1761577886.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360951,-0.914355,-0.183491],[0.930214,0.367016,0.000969],[0.066458,-0.171036,0.983021]]
2025-10-27T15:11:26.452Z,1761577886.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:26.454Z,1761577886.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.29 m.
2025-10-27T15:11:26.461Z,1761577886.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.289108 m,
      nav range: 63.561043 m,
      bearing: 64.643881 deg,
      approach rate: -0.738651 m/s,
      LOS rate: -0.011634 deg/s,
      cmd heading: 67.933246 deg,
      new cmd heading: 67.920552 deg.

2025-10-27T15:11:26.462Z,1761577886.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185437 target range: 68.289108 and range: 68.60 m.
2025-10-27T15:11:26.666Z,1761577886.666 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:26.666Z,1761577886.666 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:26.667Z,1761577886.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:26.825Z,1761577886.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361027,-0.914235,-0.183940],[0.930087,0.367340,-0.000262],[0.067808,-0.170985,0.982938]]
2025-10-27T15:11:26.883Z,1761577886.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.29 m.
2025-10-27T15:11:26.886Z,1761577886.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.289108 m,
      nav range: 63.229565 m,
      bearing: 64.642298 deg,
      approach rate: -0.772097 m/s,
      LOS rate: -0.003706 deg/s,
      cmd heading: 67.920549 deg,
      new cmd heading: 67.915775 deg.

2025-10-27T15:11:26.887Z,1761577886.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185354 target range: 68.289108 and range: 68.60 m.
2025-10-27T15:11:26.917Z,1761577886.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755092
2025-10-27T15:11:27.168Z,1761577887.168 [DAT](INFO): DAT read: Rx Time:15:11:25.7141

2025-10-27T15:11:27.169Z,1761577887.169 [DAT](INFO): Rx dataTimestamp_ set to:1761577887.168618
2025-10-27T15:11:27.169Z,1761577887.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008098
2025-10-27T15:11:27.226Z,1761577887.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361243,-0.914096,-0.184204],[0.929915,0.367771,-0.001368],[0.068995,-0.170800,0.982887]]
2025-10-27T15:11:27.257Z,1761577887.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.29 m.
2025-10-27T15:11:27.260Z,1761577887.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.289108 m,
      nav range: 62.928513 m,
      bearing: 64.640921 deg,
      approach rate: -0.805853 m/s,
      LOS rate: -0.003703 deg/s,
      cmd heading: 67.915774 deg,
      new cmd heading: 67.911624 deg.

2025-10-27T15:11:27.262Z,1761577887.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185281 target range: 68.289108 and range: 68.60 m.
2025-10-27T15:11:27.420Z,1761577887.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258590
2025-10-27T15:11:27.638Z,1761577887.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361270,-0.914079,-0.184237],[0.929816,0.368016,-0.002612],[0.070190,-0.170363,0.982878]]
2025-10-27T15:11:27.704Z,1761577887.704 [DAT](INFO): DAT read: 15:11:25.7140 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 397,-0.04,-2.546, 2.225,-2.150,-2.604, PHS= 0.160,-1.409, 0.410, RAW= 157.3,   9.8, CAL= 157.1,  10.6, ROT= 352.9, -10.6

2025-10-27T15:11:27.717Z,1761577887.717 [DAT](INFO): got valid direction response:
 15:11:25.7140 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 397,-0.04,-2.546, 2.225,-2.150,-2.604, PHS= 0.160,-1.409, 0.410, RAW= 157.3,   9.8, CAL= 157.1,  10.6, ROT= 352.9, -10.6

2025-10-27T15:11:27.732Z,1761577887.732 [DAT](INFO): DAT read: Bearing 224.8,  -3.3 (Local)

2025-10-27T15:11:27.733Z,1761577887.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.8,  -3.3 (Local)

2025-10-27T15:11:27.745Z,1761577887.745 [DAT](INFO): DAT read: Range 11 to 50 : 65.6 m  (Round-trip  87.5 ms) speed  0.8 m/s

2025-10-27T15:11:27.746Z,1761577887.746 [DAT](INFO): DAT read: user:1002>

2025-10-27T15:11:27.749Z,1761577887.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.29 m.
2025-10-27T15:11:27.755Z,1761577887.755 [DAT](INFO): DAT read: Tx time:15:11:26.8223

2025-10-27T15:11:27.756Z,1761577887.756 [DAT](INFO): Ping request sent.
2025-10-27T15:11:27.756Z,1761577887.756 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:27.756Z,1761577887.756 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:27.757Z,1761577887.757 [DAT](INFO): direction in FSK: [0.975398,-0.121492,0.183951]
2025-10-27T15:11:27.757Z,1761577887.757 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:27.757Z,1761577887.757 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:27.777Z,1761577887.777 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:27.778Z,1761577887.778 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:27.779Z,1761577887.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.289108 m,
      nav range: 62.613083 m,
      bearing: 64.639486 deg,
      approach rate: -0.641737 m/s,
      LOS rate: -0.002935 deg/s,
      cmd heading: 67.911622 deg,
      new cmd heading: 67.907293 deg.

2025-10-27T15:11:27.782Z,1761577887.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185206 target range: 68.289108 and range: 68.60 m.
2025-10-27T15:11:28.005Z,1761577888.005 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:11:28.149Z,1761577888.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.599998 m,
      deltaT: 3.529407 s,
      deltaX: -3.000000 m,
      approachRate: -0.850001 m/s,
      rangeRepo size: 4

2025-10-27T15:11:28.151Z,1761577888.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.302597 m,
      bearing: 63.505733 deg,
      lat: 36.779299 deg,
      lon: -121.859543 deg,
      deltaT: 3.529407 s,
      deltaX: -2.986511 m,
      approachRate: -0.846179 m/s,
      posRepo size: 4

2025-10-27T15:11:28.152Z,1761577888.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-27T15:11:28.154Z,1761577888.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.302597 m,
      nav range: 62.792366 m,
      bearing: 63.648534 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002935 deg/s,
      cmd heading: 67.907291 deg,
      new cmd heading: 67.903772 deg.

2025-10-27T15:11:28.156Z,1761577888.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185144 target range: 65.302597 and range: 65.60 m.
2025-10-27T15:11:28.499Z,1761577888.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363115,-0.913293,-0.184508],[0.928891,0.370319,-0.004965],[0.072861,-0.169585,0.982818]]
2025-10-27T15:11:28.583Z,1761577888.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:28.585Z,1761577888.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-27T15:11:28.592Z,1761577888.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.302597 m,
      nav range: 62.482182 m,
      bearing: 63.641614 deg,
      approach rate: -0.709068 m/s,
      LOS rate: -0.015898 deg/s,
      cmd heading: 67.903774 deg,
      new cmd heading: 67.882909 deg.

2025-10-27T15:11:28.593Z,1761577888.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184780 target range: 65.302597 and range: 65.60 m.
2025-10-27T15:11:28.682Z,1761577888.682 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:28.682Z,1761577888.682 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:28.683Z,1761577888.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:28.932Z,1761577888.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.176079
2025-10-27T15:11:28.967Z,1761577888.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-27T15:11:28.969Z,1761577888.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.302597 m,
      nav range: 62.198082 m,
      bearing: 63.637881 deg,
      approach rate: -0.745291 m/s,
      LOS rate: -0.009838 deg/s,
      cmd heading: 67.882907 deg,
      new cmd heading: 67.871657 deg.

2025-10-27T15:11:28.970Z,1761577888.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184584 target range: 65.302597 and range: 65.60 m.
2025-10-27T15:11:29.007Z,1761577889.007 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:11:29.184Z,1761577889.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.428224
2025-10-27T15:11:29.436Z,1761577889.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.680300
2025-10-27T15:11:29.452Z,1761577889.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365489,-0.911925,-0.186578],[0.927848,0.372923,-0.005143],[0.074269,-0.171236,0.982427]]
2025-10-27T15:11:29.484Z,1761577889.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-27T15:11:29.486Z,1761577889.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.302597 m,
      nav range: 61.822071 m,
      bearing: 63.633784 deg,
      approach rate: -0.726869 m/s,
      LOS rate: -0.007967 deg/s,
      cmd heading: 67.871658 deg,
      new cmd heading: 67.859294 deg.

2025-10-27T15:11:29.488Z,1761577889.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184368 target range: 65.302597 and range: 65.60 m.
2025-10-27T15:11:29.689Z,1761577889.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.932988
2025-10-27T15:11:29.854Z,1761577889.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366969,-0.911058,-0.187904],[0.927231,0.374461,-0.004741],[0.074682,-0.172490,0.982176]]
2025-10-27T15:11:29.909Z,1761577889.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-27T15:11:29.916Z,1761577889.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.302597 m,
      nav range: 61.532951 m,
      bearing: 63.626319 deg,
      approach rate: -0.679500 m/s,
      LOS rate: -0.017627 deg/s,
      cmd heading: 67.859295 deg,
      new cmd heading: 67.836795 deg.

2025-10-27T15:11:29.917Z,1761577889.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183975 target range: 65.302597 and range: 65.60 m.
2025-10-27T15:11:29.940Z,1761577889.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184361
2025-10-27T15:11:30.192Z,1761577890.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436279
2025-10-27T15:11:30.371Z,1761577890.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368751,-0.910323,-0.187974],[0.926522,0.376216,-0.004374],[0.074700,-0.172549,0.982164]]
2025-10-27T15:11:30.409Z,1761577890.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-27T15:11:30.412Z,1761577890.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.302597 m,
      nav range: 61.168293 m,
      bearing: 63.617460 deg,
      approach rate: -0.729939 m/s,
      LOS rate: -0.017839 deg/s,
      cmd heading: 67.836797 deg,
      new cmd heading: 67.810061 deg.

2025-10-27T15:11:30.413Z,1761577890.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183509 target range: 65.302597 and range: 65.60 m.
2025-10-27T15:11:30.444Z,1761577890.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688458
2025-10-27T15:11:30.696Z,1761577890.696 [DAT](INFO): DAT read: Rx Time:15:11:29.3104

2025-10-27T15:11:30.696Z,1761577890.696 [DAT](INFO): Rx dataTimestamp_ set to:1761577890.696141
2025-10-27T15:11:30.697Z,1761577890.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.941316
2025-10-27T15:11:30.820Z,1761577890.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370277,-0.909503,-0.188943],[0.925928,0.377684,-0.003468],[0.074515,-0.173663,0.981982]]
2025-10-27T15:11:30.880Z,1761577890.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:30.882Z,1761577890.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-27T15:11:30.889Z,1761577890.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.302597 m,
      nav range: 60.826782 m,
      bearing: 63.605349 deg,
      approach rate: -0.722039 m/s,
      LOS rate: -0.025749 deg/s,
      cmd heading: 67.810063 deg,
      new cmd heading: 67.773527 deg.

2025-10-27T15:11:30.890Z,1761577890.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.182871 target range: 65.302597 and range: 65.60 m.
2025-10-27T15:11:30.948Z,1761577890.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.192453
2025-10-27T15:11:31.203Z,1761577891.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.446665
2025-10-27T15:11:31.252Z,1761577891.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371784,-0.908944,-0.188673],[0.925330,0.379150,-0.003201],[0.074445,-0.173395,0.982035]]
2025-10-27T15:11:31.299Z,1761577891.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-27T15:11:31.302Z,1761577891.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.302597 m,
      nav range: 60.518726 m,
      bearing: 63.594785 deg,
      approach rate: -0.738571 m/s,
      LOS rate: -0.025458 deg/s,
      cmd heading: 67.773529 deg,
      new cmd heading: 67.741674 deg.

2025-10-27T15:11:31.303Z,1761577891.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.182315 target range: 65.302597 and range: 65.60 m.
2025-10-27T15:11:31.457Z,1761577891.457 [DAT](INFO): DAT read: 15:11:29.3104 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 408,-0.20,-0.524,-2.020,-0.141,-0.560, PHS= 0.138,-1.416, 0.374, RAW= 157.0,  10.7, CAL= 157.0,  11.8, ROT= 353.0, -11.8

2025-10-27T15:11:31.459Z,1761577891.459 [DAT](INFO): got valid direction response:
 15:11:29.3104 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 408,-0.20,-0.524,-2.020,-0.141,-0.560, PHS= 0.138,-1.416, 0.374, RAW= 157.0,  10.7, CAL= 157.0,  11.8, ROT= 353.0, -11.8

2025-10-27T15:11:31.460Z,1761577891.460 [DAT](INFO): DAT read: Bearing 226.0,  -2.7 (Local)

2025-10-27T15:11:31.460Z,1761577891.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.0,  -2.7 (Local)

2025-10-27T15:11:31.461Z,1761577891.461 [DAT](INFO): DAT read: Range 11 to 50 : 62.9 m  (Round-trip  83.9 ms) speed  0.7 m/s

2025-10-27T15:11:31.462Z,1761577891.462 [DAT](INFO): DAT read: user:1003>

2025-10-27T15:11:31.463Z,1761577891.463 [DAT](INFO): DAT read: Tx time:15:11:30.4239

2025-10-27T15:11:31.464Z,1761577891.464 [DAT](INFO): Ping request sent.
2025-10-27T15:11:31.464Z,1761577891.464 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:31.464Z,1761577891.464 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:31.465Z,1761577891.465 [DAT](INFO): direction in FSK: [0.971571,-0.119294,0.204496]
2025-10-27T15:11:31.465Z,1761577891.465 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:31.465Z,1761577891.465 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:31.469Z,1761577891.469 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:31.469Z,1761577891.469 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:31.656Z,1761577891.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374663,-0.907643,-0.189241],[0.924274,0.381729,-0.000966],[0.073115,-0.174549,0.981930]]
2025-10-27T15:11:31.678Z,1761577891.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.900002 m,
      deltaT: 3.778112 s,
      deltaX: -2.699997 m,
      approachRate: -0.714642 m/s,
      rangeRepo size: 4

2025-10-27T15:11:31.680Z,1761577891.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.614269 m,
      bearing: 63.035254 deg,
      lat: 36.779299 deg,
      lon: -121.859546 deg,
      deltaT: 3.778112 s,
      deltaX: -2.688328 m,
      approachRate: -0.711553 m/s,
      posRepo size: 4

2025-10-27T15:11:31.681Z,1761577891.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.61 m.
2025-10-27T15:11:31.700Z,1761577891.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.614269 m,
      nav range: 60.055370 m,
      bearing: 63.494973 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025458 deg/s,
      cmd heading: 67.741673 deg,
      new cmd heading: 67.712764 deg.

2025-10-27T15:11:31.702Z,1761577891.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181811 target range: 62.614269 and range: 62.90 m.
2025-10-27T15:11:32.082Z,1761577892.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375766,-0.907121,-0.189558],[0.923890,0.382657,0.000265],[0.072296,-0.175231,0.981869]]
2025-10-27T15:11:32.130Z,1761577892.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.61 m.
2025-10-27T15:11:32.133Z,1761577892.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.614269 m,
      nav range: 59.720860 m,
      bearing: 63.477035 deg,
      approach rate: -0.738718 m/s,
      LOS rate: -0.039835 deg/s,
      cmd heading: 67.712767 deg,
      new cmd heading: 67.658653 deg.

2025-10-27T15:11:32.134Z,1761577892.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180866 target range: 62.614269 and range: 62.90 m.
2025-10-27T15:11:32.481Z,1761577892.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376607,-0.907036,-0.188289],[0.923607,0.383341,0.000705],[0.071539,-0.174170,0.982113]]
2025-10-27T15:11:32.499Z,1761577892.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.61 m.
2025-10-27T15:11:32.502Z,1761577892.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.614269 m,
      nav range: 59.450741 m,
      bearing: 63.462644 deg,
      approach rate: -0.732712 m/s,
      LOS rate: -0.039214 deg/s,
      cmd heading: 67.658652 deg,
      new cmd heading: 67.615282 deg.

2025-10-27T15:11:32.503Z,1761577892.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180109 target range: 62.614269 and range: 62.90 m.
2025-10-27T15:11:32.886Z,1761577892.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377223,-0.906823,-0.188083],[0.923421,0.383784,0.001658],[0.070680,-0.174305,0.982152]]
2025-10-27T15:11:32.933Z,1761577892.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:32.936Z,1761577892.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.61 m.
2025-10-27T15:11:32.938Z,1761577892.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.614269 m,
      nav range: 59.125294 m,
      bearing: 63.443733 deg,
      approach rate: -0.745397 m/s,
      LOS rate: -0.043553 deg/s,
      cmd heading: 67.615280 deg,
      new cmd heading: 67.558233 deg.

2025-10-27T15:11:32.939Z,1761577892.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179114 target range: 62.614269 and range: 62.90 m.
2025-10-27T15:11:32.964Z,1761577892.964 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:32.964Z,1761577892.964 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:32.964Z,1761577892.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:33.217Z,1761577893.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752893
2025-10-27T15:11:33.296Z,1761577893.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377902,-0.906801,-0.186823],[0.923213,0.384282,0.002228],[0.069772,-0.173319,0.982391]]
2025-10-27T15:11:33.314Z,1761577893.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.61 m.
2025-10-27T15:11:33.316Z,1761577893.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.614269 m,
      nav range: 58.842209 m,
      bearing: 63.427318 deg,
      approach rate: -0.748868 m/s,
      LOS rate: -0.043632 deg/s,
      cmd heading: 67.558234 deg,
      new cmd heading: 67.508753 deg.

2025-10-27T15:11:33.317Z,1761577893.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.178250 target range: 62.614269 and range: 62.90 m.
2025-10-27T15:11:33.468Z,1761577893.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004303
2025-10-27T15:11:33.694Z,1761577893.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378438,-0.906825,-0.185617],[0.923068,0.384625,0.002892],[0.068771,-0.172432,0.982618]]
2025-10-27T15:11:33.721Z,1761577893.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257063
2025-10-27T15:11:33.752Z,1761577893.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.61 m.
2025-10-27T15:11:33.771Z,1761577893.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.614269 m,
      nav range: 58.539478 m,
      bearing: 63.409762 deg,
      approach rate: -0.699299 m/s,
      LOS rate: -0.040764 deg/s,
      cmd heading: 67.508756 deg,
      new cmd heading: 67.455815 deg.

2025-10-27T15:11:33.801Z,1761577893.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177326 target range: 62.614269 and range: 62.90 m.
2025-10-27T15:11:33.972Z,1761577893.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508298
2025-10-27T15:11:34.127Z,1761577894.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378804,-0.906901,-0.184494],[0.922995,0.384794,0.003599],[0.067728,-0.171651,0.982827]]
2025-10-27T15:11:34.177Z,1761577894.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.61 m.
2025-10-27T15:11:34.180Z,1761577894.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.614269 m,
      nav range: 58.180367 m,
      bearing: 63.384067 deg,
      approach rate: -0.834088 m/s,
      LOS rate: -0.060049 deg/s,
      cmd heading: 67.455816 deg,
      new cmd heading: 67.378255 deg.

2025-10-27T15:11:34.181Z,1761577894.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.175972 target range: 62.614269 and range: 62.90 m.
2025-10-27T15:11:34.227Z,1761577894.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762902
2025-10-27T15:11:34.476Z,1761577894.476 [DAT](INFO): DAT read: Rx Time:15:11:32.9083

2025-10-27T15:11:34.476Z,1761577894.476 [DAT](INFO): Rx dataTimestamp_ set to:1761577894.476178
2025-10-27T15:11:34.477Z,1761577894.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013382
2025-10-27T15:11:34.543Z,1761577894.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379058,-0.906778,-0.184576],[0.922955,0.384881,0.004617],[0.066853,-0.172106,0.982807]]
2025-10-27T15:11:34.577Z,1761577894.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.61 m.
2025-10-27T15:11:34.584Z,1761577894.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.614269 m,
      nav range: 57.879177 m,
      bearing: 63.362342 deg,
      approach rate: -0.752259 m/s,
      LOS rate: -0.054543 deg/s,
      cmd heading: 67.378252 deg,
      new cmd heading: 67.312738 deg.

2025-10-27T15:11:34.585Z,1761577894.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.174829 target range: 62.614269 and range: 62.90 m.
2025-10-27T15:11:34.728Z,1761577894.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264617
2025-10-27T15:11:34.946Z,1761577894.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379031,-0.906961,-0.183733],[0.923022,0.384714,0.005078],[0.066079,-0.171515,0.982963]]
2025-10-27T15:11:34.986Z,1761577894.986 [DAT](INFO): DAT read: 15:11:32.9083 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 403, 0.27,-3.041, 1.693,-2.658,-3.140, PHS= 0.201,-1.405, 0.438, RAW= 156.8,   8.9, CAL= 156.5,   9.4, ROT= 353.5,  -9.4

2025-10-27T15:11:34.987Z,1761577894.987 [DAT](INFO): got valid direction response:
 15:11:32.9083 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 403, 0.27,-3.041, 1.693,-2.658,-3.140, PHS= 0.201,-1.405, 0.438, RAW= 156.8,   8.9, CAL= 156.5,   9.4, ROT= 353.5,  -9.4

2025-10-27T15:11:34.988Z,1761577894.988 [DAT](INFO): DAT read: Bearing 223.6,  -2.9 (Local)

2025-10-27T15:11:34.988Z,1761577894.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.6,  -2.9 (Local)

2025-10-27T15:11:34.990Z,1761577894.990 [DAT](INFO): DAT read: Range 11 to 50 : 60.2 m  (Round-trip  80.3 ms) speed  0.6 m/s

2025-10-27T15:11:34.990Z,1761577894.990 [DAT](INFO): DAT read: user:1004>

2025-10-27T15:11:34.991Z,1761577894.991 [DAT](INFO): DAT read: Tx time:15:11:34.0223

2025-10-27T15:11:34.991Z,1761577894.991 [DAT](INFO): Ping request sent.
2025-10-27T15:11:34.992Z,1761577894.992 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:34.992Z,1761577894.992 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:34.993Z,1761577894.993 [DAT](INFO): direction in FSK: [0.980230,-0.111683,0.163326]
2025-10-27T15:11:34.993Z,1761577894.993 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:34.993Z,1761577894.993 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:34.997Z,1761577894.997 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:34.997Z,1761577894.997 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:35.048Z,1761577895.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.200001 m,
      deltaT: 3.528011 s,
      deltaX: -2.700001 m,
      approachRate: -0.765304 m/s,
      rangeRepo size: 4

2025-10-27T15:11:35.050Z,1761577895.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.926765 m,
      bearing: 62.826999 deg,
      lat: 36.779301 deg,
      lon: -121.859543 deg,
      deltaT: 3.528011 s,
      deltaX: -2.687504 m,
      approachRate: -0.761762 m/s,
      posRepo size: 4

2025-10-27T15:11:35.050Z,1761577895.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.93 m.
2025-10-27T15:11:35.061Z,1761577895.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.926765 m,
      nav range: 57.817505 m,
      bearing: 63.273347 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054543 deg/s,
      cmd heading: 67.312737 deg,
      new cmd heading: 67.236645 deg.

2025-10-27T15:11:35.062Z,1761577895.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.173501 target range: 59.926765 and range: 60.20 m.
2025-10-27T15:11:35.383Z,1761577895.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378319,-0.907372,-0.183168],[0.923354,0.383913,0.005301],[0.065510,-0.171135,0.983067]]
2025-10-27T15:11:35.399Z,1761577895.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:35.401Z,1761577895.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.93 m.
2025-10-27T15:11:35.433Z,1761577895.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.926765 m,
      nav range: 57.478477 m,
      bearing: 63.243096 deg,
      approach rate: -0.944508 m/s,
      LOS rate: -0.084774 deg/s,
      cmd heading: 67.236642 deg,
      new cmd heading: 67.145354 deg.

2025-10-27T15:11:35.434Z,1761577895.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171908 target range: 59.926765 and range: 60.20 m.
2025-10-27T15:11:35.484Z,1761577895.484 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:35.484Z,1761577895.484 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:35.484Z,1761577895.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:35.737Z,1761577895.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744966
2025-10-27T15:11:35.818Z,1761577895.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377710,-0.907696,-0.182819],[0.923650,0.383193,0.005735],[0.064849,-0.171027,0.983130]]
2025-10-27T15:11:35.889Z,1761577895.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.93 m.
2025-10-27T15:11:35.898Z,1761577895.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.926765 m,
      nav range: 57.094227 m,
      bearing: 63.208112 deg,
      approach rate: -0.787399 m/s,
      LOS rate: -0.072171 deg/s,
      cmd heading: 67.145356 deg,
      new cmd heading: 67.039698 deg.

2025-10-27T15:11:35.921Z,1761577895.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170063 target range: 59.926765 and range: 60.20 m.
2025-10-27T15:11:35.989Z,1761577895.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997279
2025-10-27T15:11:36.240Z,1761577896.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248371
2025-10-27T15:11:36.362Z,1761577896.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377212,-0.908216,-0.181259],[0.923912,0.382561,0.005863],[0.064018,-0.169679,0.983418]]
2025-10-27T15:11:36.399Z,1761577896.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.93 m.
2025-10-27T15:11:36.402Z,1761577896.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.926765 m,
      nav range: 56.672195 m,
      bearing: 63.167787 deg,
      approach rate: -0.828962 m/s,
      LOS rate: -0.079796 deg/s,
      cmd heading: 67.039700 deg,
      new cmd heading: 66.917825 deg.

2025-10-27T15:11:36.403Z,1761577896.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.167936 target range: 59.926765 and range: 60.20 m.
2025-10-27T15:11:36.493Z,1761577896.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501059
2025-10-27T15:11:36.746Z,1761577896.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754032
2025-10-27T15:11:36.779Z,1761577896.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376335,-0.908897,-0.179664],[0.924316,0.381585,0.005735],[0.063344,-0.168224,0.983711]]
2025-10-27T15:11:36.870Z,1761577896.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.93 m.
2025-10-27T15:11:36.877Z,1761577896.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.926765 m,
      nav range: 56.308987 m,
      bearing: 63.132246 deg,
      approach rate: -0.770854 m/s,
      LOS rate: -0.075917 deg/s,
      cmd heading: 66.917822 deg,
      new cmd heading: 66.810511 deg.

2025-10-27T15:11:36.878Z,1761577896.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166063 target range: 59.926765 and range: 60.20 m.
2025-10-27T15:11:36.996Z,1761577896.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004397
2025-10-27T15:11:37.250Z,1761577897.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257686
2025-10-27T15:11:37.278Z,1761577897.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375436,-0.909422,-0.178886],[0.924823,0.380324,0.007471],[0.061240,-0.168243,0.983841]]
2025-10-27T15:11:37.325Z,1761577897.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.93 m.
2025-10-27T15:11:37.328Z,1761577897.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.926765 m,
      nav range: 55.919289 m,
      bearing: 63.098564 deg,
      approach rate: -0.855331 m/s,
      LOS rate: -0.074442 deg/s,
      cmd heading: 66.810513 deg,
      new cmd heading: 66.708763 deg.

2025-10-27T15:11:37.329Z,1761577897.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.164288 target range: 59.926765 and range: 60.20 m.
2025-10-27T15:11:37.500Z,1761577897.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508303
2025-10-27T15:11:37.698Z,1761577897.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:37.705Z,1761577897.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.93 m.
2025-10-27T15:11:37.711Z,1761577897.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.926765 m,
      nav range: 55.627865 m,
      bearing: 63.073067 deg,
      approach rate: -0.768598 m/s,
      LOS rate: -0.067599 deg/s,
      cmd heading: 66.708764 deg,
      new cmd heading: 66.631871 deg.

2025-10-27T15:11:37.712Z,1761577897.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.162946 target range: 59.926765 and range: 60.20 m.
2025-10-27T15:11:37.754Z,1761577897.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762582
2025-10-27T15:11:38.004Z,1761577898.004 [DAT](INFO): DAT read: Rx Time:15:11:36.5031

2025-10-27T15:11:38.004Z,1761577898.004 [DAT](INFO): Rx dataTimestamp_ set to:1761577898.004131
2025-10-27T15:11:38.005Z,1761577898.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013396
2025-10-27T15:11:38.073Z,1761577898.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375064,-0.909801,-0.177732],[0.925172,0.379411,0.010185],[0.058167,-0.168253,0.984026]]
2025-10-27T15:11:38.117Z,1761577898.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.93 m.
2025-10-27T15:11:38.120Z,1761577898.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.926765 m,
      nav range: 55.276722 m,
      bearing: 63.051006 deg,
      approach rate: -0.851299 m/s,
      LOS rate: -0.053823 deg/s,
      cmd heading: 66.631869 deg,
      new cmd heading: 66.565267 deg.

2025-10-27T15:11:38.121Z,1761577898.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161783 target range: 59.926765 and range: 60.20 m.
2025-10-27T15:11:38.258Z,1761577898.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265792
2025-10-27T15:11:38.474Z,1761577898.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375365,-0.909800,-0.177100],[0.925153,0.379414,0.011742],[0.056511,-0.168252,0.984123]]
2025-10-27T15:11:38.493Z,1761577898.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.93 m.
2025-10-27T15:11:38.496Z,1761577898.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.926765 m,
      nav range: 54.972485 m,
      bearing: 63.031755 deg,
      approach rate: -0.810159 m/s,
      LOS rate: -0.051549 deg/s,
      cmd heading: 66.565268 deg,
      new cmd heading: 66.507195 deg.

2025-10-27T15:11:38.497Z,1761577898.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160769 target range: 59.926765 and range: 60.20 m.
2025-10-27T15:11:38.514Z,1761577898.514 [DAT](INFO): DAT read: 15:11:36.5031 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 397, 0.25,-0.442,-1.970,-0.040,-0.467, PHS= 0.127,-1.458, 0.383, RAW= 157.4,  11.0, CAL= 157.4,  12.1, ROT= 352.6, -12.1

2025-10-27T15:11:38.531Z,1761577898.531 [DAT](INFO): got valid direction response:
 15:11:36.5031 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 397, 0.25,-0.442,-1.970,-0.040,-0.467, PHS= 0.127,-1.458, 0.383, RAW= 157.4,  11.0, CAL= 157.4,  12.1, ROT= 352.6, -12.1

2025-10-27T15:11:38.532Z,1761577898.532 [DAT](INFO): DAT read: Bearing 227.0,  -4.3 (Local)

2025-10-27T15:11:38.533Z,1761577898.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.0,  -4.3 (Local)

2025-10-27T15:11:38.534Z,1761577898.534 [DAT](INFO): DAT read: Range 11 to 50 : 57.4 m  (Round-trip  76.6 ms) speed  0.8 m/s

2025-10-27T15:11:38.535Z,1761577898.535 [DAT](INFO): DAT read: user:1005>

2025-10-27T15:11:38.536Z,1761577898.536 [DAT](INFO): DAT read: Tx time:15:11:37.6223

2025-10-27T15:11:38.536Z,1761577898.536 [DAT](INFO): Ping request sent.
2025-10-27T15:11:38.536Z,1761577898.536 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:38.536Z,1761577898.536 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:38.537Z,1761577898.537 [DAT](INFO): direction in FSK: [0.969639,-0.125934,0.209619]
2025-10-27T15:11:38.538Z,1761577898.538 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:38.538Z,1761577898.538 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:38.549Z,1761577898.549 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:38.550Z,1761577898.550 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:38.893Z,1761577898.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375854,-0.909678,-0.176693],[0.925071,0.379546,0.013738],[0.054566,-0.168617,0.984170]]
2025-10-27T15:11:38.949Z,1761577898.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.400002 m,
      deltaT: 3.528115 s,
      deltaX: -2.799999 m,
      approachRate: -0.793625 m/s,
      rangeRepo size: 4

2025-10-27T15:11:38.951Z,1761577898.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.138416 m,
      bearing: 62.584407 deg,
      lat: 36.779303 deg,
      lon: -121.859543 deg,
      deltaT: 3.528115 s,
      deltaX: -2.788349 m,
      approachRate: -0.790323 m/s,
      posRepo size: 4

2025-10-27T15:11:38.952Z,1761577898.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.14 m.
2025-10-27T15:11:38.952Z,1761577898.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-10-27T15:11:38.955Z,1761577898.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.138416 m,
      nav range: 54.698723 m,
      bearing: 62.852762 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051549 deg/s,
      cmd heading: 66.507191 deg,
      new cmd heading: 66.436755 deg.

2025-10-27T15:11:38.956Z,1761577898.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159540 target range: 57.138416 and range: 57.40 m.
2025-10-27T15:11:38.969Z,1761577898.969 [DockingStepper](INFO): Changing to mode: 2
2025-10-27T15:11:39.282Z,1761577899.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376663,-0.909290,-0.176964],[0.924856,0.379975,0.016113],[0.052591,-0.169736,0.984085]]
2025-10-27T15:11:39.308Z,1761577899.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.14 m.
2025-10-27T15:11:39.309Z,1761577899.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-10-27T15:11:39.312Z,1761577899.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.138416 m,
      nav range: 54.415825 m,
      bearing: 62.835029 deg,
      approach rate: -0.784855 m/s,
      LOS rate: -0.049455 deg/s,
      cmd heading: 66.436751 deg,
      new cmd heading: 66.383274 deg.

2025-10-27T15:11:39.313Z,1761577899.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.158607 target range: 57.138416 and range: 57.40 m.
2025-10-27T15:11:39.681Z,1761577899.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376907,-0.909063,-0.177608],[0.924850,0.379897,0.018197],[0.050930,-0.171120,0.983933]]
2025-10-27T15:11:39.699Z,1761577899.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.14 m.
2025-10-27T15:11:39.700Z,1761577899.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-10-27T15:11:39.703Z,1761577899.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.138416 m,
      nav range: 54.111923 m,
      bearing: 62.815838 deg,
      approach rate: -0.777873 m/s,
      LOS rate: -0.049396 deg/s,
      cmd heading: 66.383271 deg,
      new cmd heading: 66.325376 deg.

2025-10-27T15:11:39.704Z,1761577899.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157596 target range: 57.138416 and range: 57.40 m.
2025-10-27T15:11:40.083Z,1761577900.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377689,-0.908670,-0.177958],[0.924622,0.380346,0.020286],[0.049253,-0.172206,0.983829]]
2025-10-27T15:11:40.118Z,1761577900.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:40.120Z,1761577900.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.14 m.
2025-10-27T15:11:40.121Z,1761577900.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-10-27T15:11:40.151Z,1761577900.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.138416 m,
      nav range: 53.782242 m,
      bearing: 62.808449 deg,
      approach rate: -0.782561 m/s,
      LOS rate: -0.017647 deg/s,
      cmd heading: 66.325378 deg,
      new cmd heading: 66.303075 deg.

2025-10-27T15:11:40.152Z,1761577900.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157207 target range: 57.138416 and range: 57.40 m.
2025-10-27T15:11:40.272Z,1761577900.272 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:40.272Z,1761577900.272 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:40.272Z,1761577900.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:40.486Z,1761577900.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378511,-0.908528,-0.176938],[0.924390,0.380803,0.022163],[0.047243,-0.171949,0.983972]]
2025-10-27T15:11:40.509Z,1761577900.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.14 m.
2025-10-27T15:11:40.510Z,1761577900.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-10-27T15:11:40.513Z,1761577900.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.138416 m,
      nav range: 53.477295 m,
      bearing: 62.801809 deg,
      approach rate: -0.784076 m/s,
      LOS rate: -0.017169 deg/s,
      cmd heading: 66.303078 deg,
      new cmd heading: 66.283045 deg.

2025-10-27T15:11:40.514Z,1761577900.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.156857 target range: 57.138416 and range: 57.40 m.
2025-10-27T15:11:40.524Z,1761577900.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987927
2025-10-27T15:11:40.776Z,1761577900.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239912
2025-10-27T15:11:40.918Z,1761577900.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379815,-0.908013,-0.176784],[0.923963,0.381684,0.024667],[0.045078,-0.172711,0.983941]]
2025-10-27T15:11:40.962Z,1761577900.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.14 m.
2025-10-27T15:11:40.963Z,1761577900.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-10-27T15:11:41.004Z,1761577901.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.138416 m,
      nav range: 53.135273 m,
      bearing: 62.803378 deg,
      approach rate: -0.755262 m/s,
      LOS rate: 0.003487 deg/s,
      cmd heading: 66.283045 deg,
      new cmd heading: 66.287782 deg.

2025-10-27T15:11:41.005Z,1761577901.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.156940 target range: 57.138416 and range: 57.40 m.
2025-10-27T15:11:41.028Z,1761577901.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491951
2025-10-27T15:11:41.281Z,1761577901.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744630
2025-10-27T15:11:41.362Z,1761577901.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.14 m.
2025-10-27T15:11:41.363Z,1761577901.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-10-27T15:11:41.366Z,1761577901.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.138416 m,
      nav range: 52.832794 m,
      bearing: 62.804783 deg,
      approach rate: -0.755806 m/s,
      LOS rate: 0.003530 deg/s,
      cmd heading: 66.287785 deg,
      new cmd heading: 66.292023 deg.

2025-10-27T15:11:41.367Z,1761577901.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157014 target range: 57.138416 and range: 57.40 m.
2025-10-27T15:11:41.532Z,1761577901.532 [DAT](INFO): DAT read: Rx Time:15:11:40.0994

2025-10-27T15:11:41.532Z,1761577901.532 [DAT](INFO): Rx dataTimestamp_ set to:1761577901.532110
2025-10-27T15:11:41.533Z,1761577901.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996904
2025-10-27T15:11:41.744Z,1761577901.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383061,-0.907207,-0.173895],[0.922826,0.384142,0.028766],[0.040704,-0.171494,0.984344]]
2025-10-27T15:11:41.774Z,1761577901.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.14 m.
2025-10-27T15:11:41.774Z,1761577901.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-10-27T15:11:41.784Z,1761577901.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247856
2025-10-27T15:11:41.793Z,1761577901.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.138416 m,
      nav range: 52.523506 m,
      bearing: 62.807397 deg,
      approach rate: -0.751681 m/s,
      LOS rate: 0.006389 deg/s,
      cmd heading: 66.292020 deg,
      new cmd heading: 66.299907 deg.

2025-10-27T15:11:41.794Z,1761577901.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157152 target range: 57.138416 and range: 57.40 m.
2025-10-27T15:11:42.042Z,1761577902.042 [DAT](INFO): DAT read: 15:11:40.0994 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 407, 0.29,-0.054,-1.632, 0.342,-0.152, PHS= 0.200,-1.435, 0.450, RAW= 157.0,   8.9, CAL= 156.7,   9.4, ROT= 353.3,  -9.4

2025-10-27T15:11:42.043Z,1761577902.043 [DAT](INFO): got valid direction response:
 15:11:40.0994 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 407, 0.29,-0.054,-1.632, 0.342,-0.152, PHS= 0.200,-1.435, 0.450, RAW= 157.0,   8.9, CAL= 156.7,   9.4, ROT= 353.3,  -9.4

2025-10-27T15:11:42.044Z,1761577902.044 [DAT](INFO): DAT read: Bearing 224.7,  -4.6 (Local)

2025-10-27T15:11:42.044Z,1761577902.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.7,  -4.6 (Local)

2025-10-27T15:11:42.045Z,1761577902.045 [DAT](INFO): DAT read: Range 11 to 50 : 54.6 m  (Round-trip  72.9 ms) speed  0.7 m/s

2025-10-27T15:11:42.046Z,1761577902.046 [DAT](INFO): DAT read: user:1006>

2025-10-27T15:11:42.047Z,1761577902.047 [DAT](INFO): DAT read: Tx time:15:11:41.2223

2025-10-27T15:11:42.047Z,1761577902.047 [DAT](INFO): Ping request sent.
2025-10-27T15:11:42.047Z,1761577902.047 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:42.048Z,1761577902.048 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:42.049Z,1761577902.049 [DAT](INFO): direction in FSK: [0.979834,-0.115104,0.163326]
2025-10-27T15:11:42.049Z,1761577902.049 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:42.049Z,1761577902.049 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:42.073Z,1761577902.073 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:42.073Z,1761577902.073 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:42.138Z,1761577902.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384854,-0.906689,-0.172637],[0.922175,0.385534,0.030952],[0.038494,-0.171113,0.984499]]
2025-10-27T15:11:42.236Z,1761577902.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.599998 m,
      deltaT: 3.527846 s,
      deltaX: -2.800003 m,
      approachRate: -0.793686 m/s,
      rangeRepo size: 4

2025-10-27T15:11:42.245Z,1761577902.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.350952 m,
      bearing: 62.325179 deg,
      lat: 36.779305 deg,
      lon: -121.859543 deg,
      deltaT: 3.527846 s,
      deltaX: -2.787464 m,
      approachRate: -0.790132 m/s,
      posRepo size: 4

2025-10-27T15:11:42.246Z,1761577902.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:42.251Z,1761577902.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.60 m.
2025-10-27T15:11:42.258Z,1761577902.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 52.347813 m,
      bearing: 62.536594 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006389 deg/s,
      cmd heading: 66.299909 deg,
      new cmd heading: 66.308657 deg.

2025-10-27T15:11:42.268Z,1761577902.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157304 target range: 54.350952 and range: 54.60 m.
2025-10-27T15:11:42.542Z,1761577902.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386870,-0.906107,-0.171175],[0.921418,0.387165,0.033043],[0.036333,-0.170507,0.984686]]
2025-10-27T15:11:42.565Z,1761577902.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:42.567Z,1761577902.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:42.568Z,1761577902.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.60 m.
2025-10-27T15:11:42.570Z,1761577902.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 52.090504 m,
      bearing: 62.544232 deg,
      approach rate: -0.764376 m/s,
      LOS rate: 0.022803 deg/s,
      cmd heading: 66.308658 deg,
      new cmd heading: 66.331686 deg.

2025-10-27T15:11:42.571Z,1761577902.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157706 target range: 54.350952 and range: 54.60 m.
2025-10-27T15:11:42.792Z,1761577902.792 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:42.792Z,1761577902.792 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:42.792Z,1761577902.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:42.956Z,1761577902.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388519,-0.905607,-0.170083],[0.920804,0.388442,0.035123],[0.034260,-0.170259,0.984804]]
2025-10-27T15:11:43.009Z,1761577903.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:43.009Z,1761577903.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.60 m.
2025-10-27T15:11:43.012Z,1761577903.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 51.781185 m,
      bearing: 62.556343 deg,
      approach rate: -0.700412 m/s,
      LOS rate: 0.027587 deg/s,
      cmd heading: 66.331689 deg,
      new cmd heading: 66.368238 deg.

2025-10-27T15:11:43.013Z,1761577903.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.158344 target range: 54.350952 and range: 54.60 m.
2025-10-27T15:11:43.044Z,1761577903.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997017
2025-10-27T15:11:43.296Z,1761577903.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248463
2025-10-27T15:11:43.381Z,1761577903.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:43.381Z,1761577903.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.60 m.
2025-10-27T15:11:43.384Z,1761577903.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 51.520653 m,
      bearing: 62.566656 deg,
      approach rate: -0.700185 m/s,
      LOS rate: 0.027858 deg/s,
      cmd heading: 66.368238 deg,
      new cmd heading: 66.399335 deg.

2025-10-27T15:11:43.385Z,1761577903.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.158887 target range: 54.350952 and range: 54.60 m.
2025-10-27T15:11:43.548Z,1761577903.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500752
2025-10-27T15:11:43.800Z,1761577903.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752652
2025-10-27T15:11:43.802Z,1761577903.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:43.802Z,1761577903.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.60 m.
2025-10-27T15:11:43.805Z,1761577903.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 51.227089 m,
      bearing: 62.578403 deg,
      approach rate: -0.697192 m/s,
      LOS rate: 0.028057 deg/s,
      cmd heading: 66.399336 deg,
      new cmd heading: 66.434778 deg.

2025-10-27T15:11:43.806Z,1761577903.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159506 target range: 54.350952 and range: 54.60 m.
2025-10-27T15:11:44.053Z,1761577904.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004946
2025-10-27T15:11:44.158Z,1761577904.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393116,-0.903825,-0.168996],[0.919074,0.391765,0.042693],[0.027620,-0.172104,0.984692]]
2025-10-27T15:11:44.204Z,1761577904.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:44.204Z,1761577904.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.60 m.
2025-10-27T15:11:44.207Z,1761577904.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 50.953487 m,
      bearing: 62.583767 deg,
      approach rate: -0.680760 m/s,
      LOS rate: 0.013417 deg/s,
      cmd heading: 66.434778 deg,
      new cmd heading: 66.450954 deg.

2025-10-27T15:11:44.208Z,1761577904.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159788 target range: 54.350952 and range: 54.60 m.
2025-10-27T15:11:44.305Z,1761577904.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257376
2025-10-27T15:11:44.556Z,1761577904.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508611
2025-10-27T15:11:44.564Z,1761577904.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394568,-0.903319,-0.168320],[0.918515,0.392811,0.045048],[0.025425,-0.172379,0.984703]]
2025-10-27T15:11:44.581Z,1761577904.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:44.599Z,1761577904.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:44.600Z,1761577904.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.60 m.
2025-10-27T15:11:44.602Z,1761577904.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 50.696598 m,
      bearing: 62.589300 deg,
      approach rate: -0.677383 m/s,
      LOS rate: 0.014664 deg/s,
      cmd heading: 66.450951 deg,
      new cmd heading: 66.467635 deg.

2025-10-27T15:11:44.603Z,1761577904.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160079 target range: 54.350952 and range: 54.60 m.
2025-10-27T15:11:44.808Z,1761577904.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760450
2025-10-27T15:11:44.984Z,1761577904.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396658,-0.902438,-0.168130],[0.917674,0.394445,0.047825],[0.023159,-0.173259,0.984604]]
2025-10-27T15:11:45.031Z,1761577905.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:45.032Z,1761577905.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.60 m.
2025-10-27T15:11:45.032Z,1761577905.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 54.60 m.
2025-10-27T15:11:45.032Z,1761577905.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-27T15:11:45.035Z,1761577905.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 50.387138 m,
      bearing: 62.594364 deg,
      approach rate: -0.691033 m/s,
      LOS rate: 0.011379 deg/s,
      cmd heading: 66.467638 deg,
      new cmd heading: 66.482924 deg.

2025-10-27T15:11:45.036Z,1761577905.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160346 target range: 54.350952 and range: 54.60 m.
2025-10-27T15:11:45.060Z,1761577905.060 [DAT](INFO): DAT read: Rx Time:15:11:43.6958

2025-10-27T15:11:45.060Z,1761577905.060 [DAT](INFO): Rx dataTimestamp_ set to:1761577905.060094
2025-10-27T15:11:45.061Z,1761577905.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013536
2025-10-27T15:11:45.312Z,1761577905.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264507
2025-10-27T15:11:45.371Z,1761577905.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397450,-0.902476,-0.166046],[0.917381,0.394947,0.049281],[0.021105,-0.171914,0.984886]]
2025-10-27T15:11:45.390Z,1761577905.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:45.393Z,1761577905.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 50.139896 m,
      bearing: 62.598708 deg,
      approach rate: -0.688808 m/s,
      LOS rate: 0.012162 deg/s,
      cmd heading: 66.482924 deg,
      new cmd heading: 66.496019 deg.

2025-10-27T15:11:45.394Z,1761577905.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160574 target range: 54.350952 and range: 54.60 m.
2025-10-27T15:11:45.567Z,1761577905.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519249
2025-10-27T15:11:45.774Z,1761577905.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398057,-0.902527,-0.164305],[0.917161,0.395270,0.050766],[0.019127,-0.170902,0.985102]]
2025-10-27T15:11:45.822Z,1761577905.822 [DAT](INFO): DAT read: 15:11:43.6958 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 402, 0.15, 1.311,-0.228, 1.676, 1.334, PHS= 0.079,-1.517, 0.298, RAW= 156.3,  13.2, CAL= 156.7,  14.9, ROT= 353.3, -14.9

2025-10-27T15:11:45.823Z,1761577905.823 [DAT](INFO): got valid direction response:
 15:11:43.6958 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 402, 0.15, 1.311,-0.228, 1.676, 1.334, PHS= 0.079,-1.517, 0.298, RAW= 156.3,  13.2, CAL= 156.7,  14.9, ROT= 353.3, -14.9

2025-10-27T15:11:45.824Z,1761577905.824 [DAT](INFO): DAT read: Bearing 230.3,  -5.5 (Local)

2025-10-27T15:11:45.825Z,1761577905.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.3,  -5.5 (Local)

2025-10-27T15:11:45.826Z,1761577905.826 [DAT](INFO): DAT read: Range 11 to 50 : 51.9 m  (Round-trip  69.3 ms) speed  0.6 m/s

2025-10-27T15:11:45.827Z,1761577905.827 [DAT](INFO): DAT read: user:1007>

2025-10-27T15:11:45.828Z,1761577905.828 [DAT](INFO): DAT read: Tx time:15:11:44.8223

2025-10-27T15:11:45.828Z,1761577905.828 [DAT](INFO): Ping request sent.
2025-10-27T15:11:45.828Z,1761577905.828 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:45.828Z,1761577905.828 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:45.829Z,1761577905.829 [DAT](INFO): direction in FSK: [0.959776,-0.112748,0.257133]
2025-10-27T15:11:45.830Z,1761577905.830 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:45.830Z,1761577905.830 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:45.832Z,1761577905.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.900002 m,
      deltaT: 3.780126 s,
      deltaX: -2.699997 m,
      approachRate: -0.714261 m/s,
      rangeRepo size: 4

2025-10-27T15:11:45.833Z,1761577905.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:45.861Z,1761577905.861 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:45.862Z,1761577905.862 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:45.864Z,1761577905.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 49.856693 m,
      bearing: 62.603958 deg,
      approach rate: -0.640418 m/s,
      LOS rate: 0.011940 deg/s,
      cmd heading: 66.496017 deg,
      new cmd heading: 66.511857 deg.

2025-10-27T15:11:45.865Z,1761577905.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160851 target range: 54.350952 and range: 51.90 m.
2025-10-27T15:11:46.249Z,1761577906.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:46.263Z,1761577906.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 49.565117 m,
      bearing: 62.609426 deg,
      approach rate: -0.699128 m/s,
      LOS rate: 0.013188 deg/s,
      cmd heading: 66.511856 deg,
      new cmd heading: 66.528357 deg.

2025-10-27T15:11:46.264Z,1761577906.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161139 target range: 54.350952 and range: 51.90 m.
2025-10-27T15:11:46.583Z,1761577906.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396298,-0.903991,-0.160460],[0.917986,0.393146,0.052323],[0.015785,-0.168036,0.985655]]
2025-10-27T15:11:46.614Z,1761577906.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:46.624Z,1761577906.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:46.626Z,1761577906.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 49.304211 m,
      bearing: 62.613819 deg,
      approach rate: -0.702439 m/s,
      LOS rate: 0.011890 deg/s,
      cmd heading: 66.528358 deg,
      new cmd heading: 66.541607 deg.

2025-10-27T15:11:46.632Z,1761577906.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161370 target range: 54.350952 and range: 51.90 m.
2025-10-27T15:11:46.824Z,1761577906.824 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:46.824Z,1761577906.824 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:46.824Z,1761577906.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:47.011Z,1761577907.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395240,-0.904702,-0.159057],[0.918471,0.391861,0.053434],[0.013986,-0.167208,0.985822]]
2025-10-27T15:11:47.054Z,1761577907.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:47.057Z,1761577907.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 48.979076 m,
      bearing: 62.594021 deg,
      approach rate: -0.749211 m/s,
      LOS rate: -0.045924 deg/s,
      cmd heading: 66.541609 deg,
      new cmd heading: 66.481819 deg.

2025-10-27T15:11:47.058Z,1761577907.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160327 target range: 54.350952 and range: 51.90 m.
2025-10-27T15:11:47.076Z,1761577907.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247594
2025-10-27T15:11:47.328Z,1761577907.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500127
2025-10-27T15:11:47.389Z,1761577907.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393850,-0.905932,-0.155464],[0.919092,0.390411,0.053377],[0.012339,-0.163909,0.986398]]
2025-10-27T15:11:47.418Z,1761577907.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:47.421Z,1761577907.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 48.717571 m,
      bearing: 62.577462 deg,
      approach rate: -0.718792 m/s,
      LOS rate: -0.045759 deg/s,
      cmd heading: 66.481817 deg,
      new cmd heading: 66.431874 deg.

2025-10-27T15:11:47.422Z,1761577907.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159455 target range: 54.350952 and range: 51.90 m.
2025-10-27T15:11:47.580Z,1761577907.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751796
2025-10-27T15:11:47.794Z,1761577907.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391765,-0.907294,-0.152766],[0.920004,0.388214,0.053685],[0.010598,-0.161577,0.986803]]
2025-10-27T15:11:47.812Z,1761577907.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:47.832Z,1761577907.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003706
2025-10-27T15:11:47.833Z,1761577907.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 48.434917 m,
      bearing: 62.558619 deg,
      approach rate: -0.717075 m/s,
      LOS rate: -0.048082 deg/s,
      cmd heading: 66.431875 deg,
      new cmd heading: 66.375016 deg.

2025-10-27T15:11:47.834Z,1761577907.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.158463 target range: 54.350952 and range: 51.90 m.
2025-10-27T15:11:48.084Z,1761577908.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255695
2025-10-27T15:11:48.199Z,1761577908.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389592,-0.908454,-0.151424],[0.920944,0.385868,0.054475],[0.008942,-0.160676,0.986967]]
2025-10-27T15:11:48.272Z,1761577908.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:48.279Z,1761577908.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 48.113216 m,
      bearing: 62.530985 deg,
      approach rate: -0.699846 m/s,
      LOS rate: -0.060520 deg/s,
      cmd heading: 66.375013 deg,
      new cmd heading: 66.291555 deg.

2025-10-27T15:11:48.280Z,1761577908.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157006 target range: 54.350952 and range: 51.90 m.
2025-10-27T15:11:48.337Z,1761577908.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508824
2025-10-27T15:11:48.588Z,1761577908.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759598
2025-10-27T15:11:48.603Z,1761577908.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387438,-0.909702,-0.149444],[0.921867,0.383578,0.055037],[0.007256,-0.159091,0.987237]]
2025-10-27T15:11:48.643Z,1761577908.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:48.646Z,1761577908.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:48.652Z,1761577908.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 47.836941 m,
      bearing: 62.506184 deg,
      approach rate: -0.739440 m/s,
      LOS rate: -0.066761 deg/s,
      cmd heading: 66.291555 deg,
      new cmd heading: 66.216724 deg.

2025-10-27T15:11:48.653Z,1761577908.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155700 target range: 54.350952 and range: 51.90 m.
2025-10-27T15:11:48.840Z,1761577908.840 [DAT](INFO): DAT read: Rx Time:15:11:47.2922

2025-10-27T15:11:48.840Z,1761577908.840 [DAT](INFO): Rx dataTimestamp_ set to:1761577908.840106
2025-10-27T15:11:48.841Z,1761577908.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012788
2025-10-27T15:11:49.038Z,1761577909.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385428,-0.910768,-0.148142],[0.922721,0.381382,0.055976],[0.005517,-0.158268,0.987381]]
2025-10-27T15:11:49.081Z,1761577909.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.35 m.
2025-10-27T15:11:49.084Z,1761577909.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.350952 m,
      nav range: 47.481133 m,
      bearing: 62.466216 deg,
      approach rate: -0.816957 m/s,
      LOS rate: -0.092456 deg/s,
      cmd heading: 66.216724 deg,
      new cmd heading: 66.095922 deg.

2025-10-27T15:11:49.085Z,1761577909.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.153591 target range: 54.350952 and range: 51.90 m.
2025-10-27T15:11:49.092Z,1761577909.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263903
2025-10-27T15:11:49.349Z,1761577909.349 [DAT](INFO): DAT read: 15:11:47.2922 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 399, 0.23,-1.628, 3.129,-1.285,-1.601, PHS= 0.076,-1.508, 0.272, RAW= 155.8,  13.6, CAL= 156.2,  15.4, ROT= 353.8, -15.4

2025-10-27T15:11:49.351Z,1761577909.351 [DAT](INFO): got valid direction response:
 15:11:47.2922 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 399, 0.23,-1.628, 3.129,-1.285,-1.601, PHS= 0.076,-1.508, 0.272, RAW= 155.8,  13.6, CAL= 156.2,  15.4, ROT= 353.8, -15.4

2025-10-27T15:11:49.352Z,1761577909.352 [DAT](INFO): DAT read: Bearing 232.4,  -6.0 (Local)

2025-10-27T15:11:49.352Z,1761577909.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.4,  -6.0 (Local)

2025-10-27T15:11:49.353Z,1761577909.353 [DAT](INFO): DAT read: Range 11 to 50 : 49.4 m  (Round-trip  65.9 ms) speed  0.8 m/s

2025-10-27T15:11:49.354Z,1761577909.354 [DAT](INFO): DAT read: user:1008>

2025-10-27T15:11:49.355Z,1761577909.355 [DAT](INFO): DAT read: Tx time:15:11:48.4222

2025-10-27T15:11:49.355Z,1761577909.355 [DAT](INFO): Ping request sent.
2025-10-27T15:11:49.355Z,1761577909.355 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:49.356Z,1761577909.356 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:49.357Z,1761577909.357 [DAT](INFO): direction in FSK: [0.958456,-0.104122,0.265556]
2025-10-27T15:11:49.357Z,1761577909.357 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:49.357Z,1761577909.357 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:49.361Z,1761577909.361 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:49.361Z,1761577909.361 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:49.410Z,1761577909.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383098,-0.912179,-0.145485],[0.923698,0.379042,0.055763],[0.004279,-0.155747,0.987788]]
2025-10-27T15:11:49.470Z,1761577909.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.400002 m,
      deltaT: 3.527854 s,
      deltaX: -2.500000 m,
      approachRate: -0.708646 m/s,
      rangeRepo size: 4

2025-10-27T15:11:49.492Z,1761577909.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.175114 m,
      bearing: 63.798598 deg,
      lat: 36.779305 deg,
      lon: -121.859542 deg,
      deltaT: 7.307980 s,
      deltaX: -5.175838 m,
      approachRate: -0.708245 m/s,
      posRepo size: 4

2025-10-27T15:11:49.493Z,1761577909.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-10-27T15:11:49.500Z,1761577909.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.175114 m,
      nav range: 47.232899 m,
      bearing: 62.445156 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092456 deg/s,
      cmd heading: 66.095918 deg,
      new cmd heading: 65.988303 deg.

2025-10-27T15:11:49.501Z,1761577909.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.151713 target range: 49.175114 and range: 49.40 m.
2025-10-27T15:11:49.814Z,1761577909.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380537,-0.913528,-0.143728],[0.924761,0.376380,0.056164],[0.002789,-0.154286,0.988022]]
2025-10-27T15:11:49.840Z,1761577909.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-10-27T15:11:49.843Z,1761577909.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.175114 m,
      nav range: 46.936535 m,
      bearing: 62.409163 deg,
      approach rate: -0.799320 m/s,
      LOS rate: -0.097689 deg/s,
      cmd heading: 65.988302 deg,
      new cmd heading: 65.879641 deg.

2025-10-27T15:11:49.844Z,1761577909.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149817 target range: 49.175114 and range: 49.40 m.
2025-10-27T15:11:50.218Z,1761577910.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378036,-0.914641,-0.143249],[0.925790,0.373707,0.057061],[0.001343,-0.154190,0.988040]]
2025-10-27T15:11:50.289Z,1761577910.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-10-27T15:11:50.292Z,1761577910.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.175114 m,
      nav range: 46.585110 m,
      bearing: 62.365726 deg,
      approach rate: -0.783272 m/s,
      LOS rate: -0.097545 deg/s,
      cmd heading: 65.879640 deg,
      new cmd heading: 65.748346 deg.

2025-10-27T15:11:50.292Z,1761577910.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147525 target range: 49.175114 and range: 49.40 m.
2025-10-27T15:11:50.640Z,1761577910.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376006,-0.915366,-0.143960],[0.926617,0.371420,0.058551],[-0.000125,-0.155412,0.987850]]
2025-10-27T15:11:50.661Z,1761577910.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:50.663Z,1761577910.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-10-27T15:11:50.682Z,1761577910.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.175114 m,
      nav range: 46.292919 m,
      bearing: 62.328305 deg,
      approach rate: -0.780997 m/s,
      LOS rate: -0.100654 deg/s,
      cmd heading: 65.748344 deg,
      new cmd heading: 65.635372 deg.

2025-10-27T15:11:50.682Z,1761577910.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145553 target range: 49.175114 and range: 49.40 m.
2025-10-27T15:11:50.856Z,1761577910.856 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:50.856Z,1761577910.856 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:50.856Z,1761577910.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:51.075Z,1761577911.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374150,-0.916090,-0.144191],[0.927367,0.369330,0.059879],[-0.001600,-0.156122,0.987736]]
2025-10-27T15:11:51.091Z,1761577911.091 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  82.60,  67.98,  73.76
2025-10-27T15:11:51.108Z,1761577911.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752660
2025-10-27T15:11:51.109Z,1761577911.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-10-27T15:11:51.112Z,1761577911.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.175114 m,
      nav range: 45.945423 m,
      bearing: 62.282300 deg,
      approach rate: -0.782337 m/s,
      LOS rate: -0.104355 deg/s,
      cmd heading: 65.635372 deg,
      new cmd heading: 65.496316 deg.

2025-10-27T15:11:51.113Z,1761577911.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143126 target range: 49.175114 and range: 49.40 m.
2025-10-27T15:11:51.360Z,1761577911.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004460
2025-10-27T15:11:51.450Z,1761577911.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372796,-0.916345,-0.146065],[0.927909,0.367661,0.061731],[-0.002864,-0.158548,0.987347]]
2025-10-27T15:11:51.478Z,1761577911.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-10-27T15:11:51.481Z,1761577911.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.175114 m,
      nav range: 45.655575 m,
      bearing: 62.242854 deg,
      approach rate: -0.781279 m/s,
      LOS rate: -0.107002 deg/s,
      cmd heading: 65.496316 deg,
      new cmd heading: 65.377226 deg.

2025-10-27T15:11:51.482Z,1761577911.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141048 target range: 49.175114 and range: 49.40 m.
2025-10-27T15:11:51.613Z,1761577911.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257048
2025-10-27T15:11:51.854Z,1761577911.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371327,-0.916872,-0.146500],[0.928494,0.366009,0.062739],[-0.003903,-0.159321,0.987219]]
2025-10-27T15:11:51.864Z,1761577911.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508239
2025-10-27T15:11:51.901Z,1761577911.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-10-27T15:11:51.908Z,1761577911.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.175114 m,
      nav range: 45.340645 m,
      bearing: 62.198782 deg,
      approach rate: -0.744054 m/s,
      LOS rate: -0.104847 deg/s,
      cmd heading: 65.377225 deg,
      new cmd heading: 65.244092 deg.

2025-10-27T15:11:51.909Z,1761577911.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138724 target range: 49.175114 and range: 49.40 m.
2025-10-27T15:11:52.120Z,1761577912.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764500
2025-10-27T15:11:52.262Z,1761577912.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370167,-0.917121,-0.147872],[0.928953,0.364612,0.064072],[-0.004846,-0.161083,0.986929]]
2025-10-27T15:11:52.311Z,1761577912.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-10-27T15:11:52.314Z,1761577912.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.175114 m,
      nav range: 45.007595 m,
      bearing: 62.152749 deg,
      approach rate: -0.812378 m/s,
      LOS rate: -0.113115 deg/s,
      cmd heading: 65.244091 deg,
      new cmd heading: 65.104971 deg.

2025-10-27T15:11:52.315Z,1761577912.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136296 target range: 49.175114 and range: 49.40 m.
2025-10-27T15:11:52.373Z,1761577912.373 [DAT](INFO): DAT read: Rx Time:15:11:50.8886

2025-10-27T15:11:52.374Z,1761577912.374 [DAT](INFO): Rx dataTimestamp_ set to:1761577912.373200
2025-10-27T15:11:52.374Z,1761577912.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018901
2025-10-27T15:11:52.624Z,1761577912.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268408
2025-10-27T15:11:52.670Z,1761577912.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369510,-0.917151,-0.149317],[0.929208,0.363698,0.065542],[-0.005806,-0.162965,0.986615]]
2025-10-27T15:11:52.686Z,1761577912.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:52.688Z,1761577912.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-10-27T15:11:52.692Z,1761577912.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.175114 m,
      nav range: 44.715588 m,
      bearing: 62.111557 deg,
      approach rate: -0.773679 m/s,
      LOS rate: -0.109853 deg/s,
      cmd heading: 65.104974 deg,
      new cmd heading: 64.980589 deg.

2025-10-27T15:11:52.692Z,1761577912.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134125 target range: 49.175114 and range: 49.40 m.
2025-10-27T15:11:52.882Z,1761577912.882 [DAT](INFO): DAT read: 15:11:50.8886 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 410, 0.47, 1.455,-0.030, 1.831, 1.511, PHS= 0.046,-1.496, 0.276, RAW= 156.9,  14.0, CAL= 157.4,  15.9, ROT= 352.6, -15.9

2025-10-27T15:11:52.883Z,1761577912.883 [DAT](INFO): got valid direction response:
 15:11:50.8886 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 410, 0.47, 1.455,-0.030, 1.831, 1.511, PHS= 0.046,-1.496, 0.276, RAW= 156.9,  14.0, CAL= 157.4,  15.9, ROT= 352.6, -15.9

2025-10-27T15:11:52.884Z,1761577912.884 [DAT](INFO): DAT read: Bearing 233.7,  -8.4 (Local)

2025-10-27T15:11:52.884Z,1761577912.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.7,  -8.4 (Local)

2025-10-27T15:11:52.886Z,1761577912.886 [DAT](INFO): DAT read: Range 11 to 50 : 46.7 m  (Round-trip  62.3 ms) speed  0.7 m/s

2025-10-27T15:11:52.886Z,1761577912.886 [DAT](INFO): DAT read: user:1009>

2025-10-27T15:11:52.887Z,1761577912.887 [DAT](INFO): DAT read: Tx time:15:11:51.9722

2025-10-27T15:11:52.888Z,1761577912.888 [DAT](INFO): Ping request sent.
2025-10-27T15:11:52.888Z,1761577912.888 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:52.888Z,1761577912.888 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:52.889Z,1761577912.889 [DAT](INFO): direction in FSK: [0.953731,-0.123868,0.273959]
2025-10-27T15:11:52.889Z,1761577912.889 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:52.890Z,1761577912.890 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:52.893Z,1761577912.893 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:52.893Z,1761577912.893 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:53.101Z,1761577913.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369819,-0.916484,-0.152615],[0.929078,0.363554,0.068145],[-0.006970,-0.166993,0.985933]]
2025-10-27T15:11:53.156Z,1761577913.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.700001 m,
      deltaT: 3.532108 s,
      deltaX: -2.700001 m,
      approachRate: -0.764416 m/s,
      rangeRepo size: 4

2025-10-27T15:11:53.158Z,1761577913.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.486652 m,
      bearing: 63.725857 deg,
      lat: 36.779305 deg,
      lon: -121.859537 deg,
      deltaT: 3.532108 s,
      deltaX: -2.688461 m,
      approachRate: -0.761149 m/s,
      posRepo size: 4

2025-10-27T15:11:53.159Z,1761577913.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.49 m.
2025-10-27T15:11:53.162Z,1761577913.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.486652 m,
      nav range: 44.747086 m,
      bearing: 62.345507 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.109853 deg/s,
      cmd heading: 64.980589 deg,
      new cmd heading: 64.826588 deg.

2025-10-27T15:11:53.163Z,1761577913.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131437 target range: 46.486652 and range: 46.70 m.
2025-10-27T15:11:53.480Z,1761577913.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370447,-0.915509,-0.156882],[0.928817,0.363621,0.071259],[-0.008192,-0.172112,0.985043]]
2025-10-27T15:11:53.498Z,1761577913.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.49 m.
2025-10-27T15:11:53.501Z,1761577913.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.486652 m,
      nav range: 44.477474 m,
      bearing: 62.312880 deg,
      approach rate: -0.787104 m/s,
      LOS rate: -0.095828 deg/s,
      cmd heading: 64.826589 deg,
      new cmd heading: 64.728115 deg.

2025-10-27T15:11:53.502Z,1761577913.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129719 target range: 46.486652 and range: 46.70 m.
2025-10-27T15:11:53.924Z,1761577913.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.49 m.
2025-10-27T15:11:53.927Z,1761577913.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.486652 m,
      nav range: 44.155624 m,
      bearing: 62.273408 deg,
      approach rate: -0.755640 m/s,
      LOS rate: -0.093348 deg/s,
      cmd heading: 64.728118 deg,
      new cmd heading: 64.608839 deg.

2025-10-27T15:11:53.928Z,1761577913.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127637 target range: 46.486652 and range: 46.70 m.
2025-10-27T15:11:54.289Z,1761577914.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372679,-0.913549,-0.162908],[0.927907,0.364988,0.075974],[-0.009947,-0.179478,0.983712]]
2025-10-27T15:11:54.341Z,1761577914.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.49 m.
2025-10-27T15:11:54.348Z,1761577914.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.486652 m,
      nav range: 43.841927 m,
      bearing: 62.249765 deg,
      approach rate: -0.753017 m/s,
      LOS rate: -0.057160 deg/s,
      cmd heading: 64.608843 deg,
      new cmd heading: 64.537406 deg.

2025-10-27T15:11:54.349Z,1761577914.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126390 target range: 46.486652 and range: 46.70 m.
2025-10-27T15:11:54.686Z,1761577914.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373792,-0.912728,-0.164946],[0.927450,0.365745,0.077890],[-0.010764,-0.182094,0.983222]]
2025-10-27T15:11:54.704Z,1761577914.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:54.706Z,1761577914.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.49 m.
2025-10-27T15:11:54.709Z,1761577914.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.486652 m,
      nav range: 43.552582 m,
      bearing: 62.228109 deg,
      approach rate: -0.793158 m/s,
      LOS rate: -0.059759 deg/s,
      cmd heading: 64.537406 deg,
      new cmd heading: 64.472006 deg.

2025-10-27T15:11:54.712Z,1761577914.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125249 target range: 46.486652 and range: 46.70 m.
2025-10-27T15:11:54.892Z,1761577914.892 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:54.892Z,1761577914.892 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:54.892Z,1761577914.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:55.129Z,1761577915.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375662,-0.911642,-0.166695],[0.926682,0.367212,0.080104],[-0.011814,-0.184566,0.982749]]
2025-10-27T15:11:55.144Z,1761577915.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256117
2025-10-27T15:11:55.173Z,1761577915.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.49 m.
2025-10-27T15:11:55.176Z,1761577915.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.486652 m,
      nav range: 43.201965 m,
      bearing: 62.205646 deg,
      approach rate: -0.749586 m/s,
      LOS rate: -0.048412 deg/s,
      cmd heading: 64.472007 deg,
      new cmd heading: 64.404072 deg.

2025-10-27T15:11:55.177Z,1761577915.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124063 target range: 46.486652 and range: 46.70 m.
2025-10-27T15:11:55.396Z,1761577915.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508105
2025-10-27T15:11:55.505Z,1761577915.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377733,-0.910380,-0.168894],[0.925823,0.368801,0.082684],[-0.012985,-0.187599,0.982160]]
2025-10-27T15:11:55.524Z,1761577915.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.49 m.
2025-10-27T15:11:55.527Z,1761577915.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.486652 m,
      nav range: 42.939480 m,
      bearing: 62.189375 deg,
      approach rate: -0.747901 m/s,
      LOS rate: -0.046645 deg/s,
      cmd heading: 64.404073 deg,
      new cmd heading: 64.354962 deg.

2025-10-27T15:11:55.528Z,1761577915.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123206 target range: 46.486652 and range: 46.70 m.
2025-10-27T15:11:55.648Z,1761577915.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760105
2025-10-27T15:11:55.894Z,1761577915.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379969,-0.909137,-0.170567],[0.924894,0.370628,0.084890],[-0.013960,-0.190012,0.981683]]
2025-10-27T15:11:55.900Z,1761577915.900 [DAT](INFO): DAT read: Rx Time:15:11:54.4349

2025-10-27T15:11:55.900Z,1761577915.900 [DAT](INFO): Rx dataTimestamp_ set to:1761577915.900133
2025-10-27T15:11:55.901Z,1761577915.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013109
2025-10-27T15:11:55.943Z,1761577915.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.49 m.
2025-10-27T15:11:55.949Z,1761577915.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.486652 m,
      nav range: 42.643204 m,
      bearing: 62.171733 deg,
      approach rate: -0.750495 m/s,
      LOS rate: -0.045000 deg/s,
      cmd heading: 64.354964 deg,
      new cmd heading: 64.301670 deg.

2025-10-27T15:11:55.950Z,1761577915.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122276 target range: 46.486652 and range: 46.70 m.
2025-10-27T15:11:56.155Z,1761577916.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266413
2025-10-27T15:11:56.354Z,1761577916.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382302,-0.907916,-0.171851],[0.923918,0.372599,0.086860],[-0.014830,-0.191983,0.981286]]
2025-10-27T15:11:56.392Z,1761577916.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.49 m.
2025-10-27T15:11:56.394Z,1761577916.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.486652 m,
      nav range: 42.311924 m,
      bearing: 62.170795 deg,
      approach rate: -0.701938 m/s,
      LOS rate: -0.002003 deg/s,
      cmd heading: 64.301668 deg,
      new cmd heading: 64.298833 deg.

2025-10-27T15:11:56.409Z,1761577916.409 [DAT](INFO): DAT read: 15:11:54.4349 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 405,-0.18,-0.333,-1.827, 0.070,-0.299, PHS= 0.068,-1.483, 0.325, RAW= 157.5,  12.8, CAL= 157.9,  14.5, ROT= 352.1, -14.5

2025-10-27T15:11:56.411Z,1761577916.411 [DAT](INFO): got valid direction response:
 15:11:54.4349 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 405,-0.18,-0.333,-1.827, 0.070,-0.299, PHS= 0.068,-1.483, 0.325, RAW= 157.5,  12.8, CAL= 157.9,  14.5, ROT= 352.1, -14.5

2025-10-27T15:11:56.412Z,1761577916.412 [DAT](INFO): DAT read: Bearing 231.4, -10.4 (Local)

2025-10-27T15:11:56.412Z,1761577916.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.4, -10.4 (Local)

2025-10-27T15:11:56.413Z,1761577916.413 [DAT](INFO): DAT read: Range 11 to 50 : 43.8 m  (Round-trip  58.5 ms) speed  0.6 m/s

2025-10-27T15:11:56.414Z,1761577916.414 [DAT](INFO): DAT read: user:1010>

2025-10-27T15:11:56.415Z,1761577916.415 [DAT](INFO): DAT read: Tx time:15:11:55.5222

2025-10-27T15:11:56.415Z,1761577916.415 [DAT](INFO): Ping request sent.
2025-10-27T15:11:56.415Z,1761577916.415 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:56.416Z,1761577916.416 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:56.416Z,1761577916.416 [DAT](INFO): direction in FSK: [0.958959,-0.133067,0.250380]
2025-10-27T15:11:56.417Z,1761577916.417 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:56.417Z,1761577916.417 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:56.420Z,1761577916.420 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:56.420Z,1761577916.420 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:56.436Z,1761577916.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122226 target range: 46.486652 and range: 46.70 m.
2025-10-27T15:11:56.702Z,1761577916.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384529,-0.907028,-0.171574],[0.922979,0.374604,0.088215],[-0.015741,-0.192280,0.981214]]
2025-10-27T15:11:56.772Z,1761577916.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.799999 m,
      deltaT: 3.527862 s,
      deltaX: -2.900002 m,
      approachRate: -0.822028 m/s,
      rangeRepo size: 4

2025-10-27T15:11:56.774Z,1761577916.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.600189 m,
      bearing: 62.490473 deg,
      lat: 36.779304 deg,
      lon: -121.859537 deg,
      deltaT: 3.527862 s,
      deltaX: -2.886463 m,
      approachRate: -0.818191 m/s,
      posRepo size: 4

2025-10-27T15:11:56.774Z,1761577916.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.60 m.
2025-10-27T15:11:56.786Z,1761577916.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.600189 m,
      nav range: 42.011410 m,
      bearing: 62.395168 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002003 deg/s,
      cmd heading: 64.298834 deg,
      new cmd heading: 64.296552 deg.

2025-10-27T15:11:56.791Z,1761577916.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122187 target range: 43.600189 and range: 43.80 m.
2025-10-27T15:11:57.155Z,1761577917.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387254,-0.906040,-0.170665],[0.921816,0.377084,0.089792],[-0.017000,-0.192094,0.981229]]
2025-10-27T15:11:57.203Z,1761577917.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:57.208Z,1761577917.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.60 m.
2025-10-27T15:11:57.214Z,1761577917.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.600189 m,
      nav range: 41.708721 m,
      bearing: 62.404055 deg,
      approach rate: -0.694050 m/s,
      LOS rate: 0.020527 deg/s,
      cmd heading: 64.296553 deg,
      new cmd heading: 64.323409 deg.

2025-10-27T15:11:57.215Z,1761577917.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122655 target range: 43.600189 and range: 43.80 m.
2025-10-27T15:11:57.412Z,1761577917.412 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:11:57.412Z,1761577917.412 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:11:57.412Z,1761577917.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:11:57.511Z,1761577917.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390274,-0.904860,-0.170040],[0.920515,0.379799,0.091674],[-0.018371,-0.192303,0.981164]]
2025-10-27T15:11:57.541Z,1761577917.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.60 m.
2025-10-27T15:11:57.544Z,1761577917.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.600189 m,
      nav range: 41.484371 m,
      bearing: 62.411742 deg,
      approach rate: -0.671630 m/s,
      LOS rate: 0.023137 deg/s,
      cmd heading: 64.323409 deg,
      new cmd heading: 64.346595 deg.

2025-10-27T15:11:57.545Z,1761577917.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123060 target range: 43.600189 and range: 43.80 m.
2025-10-27T15:11:57.664Z,1761577917.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248628
2025-10-27T15:11:57.914Z,1761577917.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393489,-0.903551,-0.169593],[0.919117,0.382684,0.093685],[-0.019749,-0.192739,0.981051]]
2025-10-27T15:11:57.916Z,1761577917.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500721
2025-10-27T15:11:57.936Z,1761577917.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.60 m.
2025-10-27T15:11:57.938Z,1761577917.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.600189 m,
      nav range: 41.220768 m,
      bearing: 62.422160 deg,
      approach rate: -0.667773 m/s,
      LOS rate: 0.026558 deg/s,
      cmd heading: 64.346597 deg,
      new cmd heading: 64.378049 deg.

2025-10-27T15:11:57.956Z,1761577917.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123609 target range: 43.600189 and range: 43.80 m.
2025-10-27T15:11:58.173Z,1761577918.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757156
2025-10-27T15:11:58.318Z,1761577918.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397068,-0.902035,-0.169323],[0.917543,0.385873,0.096005],[-0.021262,-0.193482,0.980873]]
2025-10-27T15:11:58.367Z,1761577918.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.60 m.
2025-10-27T15:11:58.369Z,1761577918.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.600189 m,
      nav range: 40.936810 m,
      bearing: 62.432051 deg,
      approach rate: -0.659118 m/s,
      LOS rate: 0.023118 deg/s,
      cmd heading: 64.378050 deg,
      new cmd heading: 64.407930 deg.

2025-10-27T15:11:58.370Z,1761577918.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124130 target range: 43.600189 and range: 43.80 m.
2025-10-27T15:11:58.421Z,1761577918.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005504
2025-10-27T15:11:58.672Z,1761577918.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256612
2025-10-27T15:11:58.741Z,1761577918.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400632,-0.900474,-0.169234],[0.915956,0.389026,0.098407],[-0.022776,-0.194436,0.980651]]
2025-10-27T15:11:58.770Z,1761577918.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.60 m.
2025-10-27T15:11:58.773Z,1761577918.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.600189 m,
      nav range: 40.670490 m,
      bearing: 62.442906 deg,
      approach rate: -0.659340 m/s,
      LOS rate: 0.027052 deg/s,
      cmd heading: 64.407933 deg,
      new cmd heading: 64.440713 deg.

2025-10-27T15:11:58.774Z,1761577918.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124703 target range: 43.600189 and range: 43.80 m.
2025-10-27T15:11:58.924Z,1761577918.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508668
2025-10-27T15:11:59.129Z,1761577919.129 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:11:59.157Z,1761577919.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404276,-0.898840,-0.169256],[0.914312,0.392221,0.100975],[-0.024374,-0.195574,0.980386]]
2025-10-27T15:11:59.180Z,1761577919.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763146
2025-10-27T15:11:59.221Z,1761577919.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:11:59.225Z,1761577919.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.60 m.
2025-10-27T15:11:59.241Z,1761577919.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.600189 m,
      nav range: 40.376160 m,
      bearing: 62.456727 deg,
      approach rate: -0.648162 m/s,
      LOS rate: 0.030658 deg/s,
      cmd heading: 64.440711 deg,
      new cmd heading: 64.482475 deg.

2025-10-27T15:11:59.242Z,1761577919.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125432 target range: 43.600189 and range: 43.80 m.
2025-10-27T15:11:59.428Z,1761577919.428 [DAT](INFO): DAT read: Rx Time:15:11:57.9814

2025-10-27T15:11:59.428Z,1761577919.428 [DAT](INFO): Rx dataTimestamp_ set to:1761577919.428107
2025-10-27T15:11:59.429Z,1761577919.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013682
2025-10-27T15:11:59.530Z,1761577919.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407531,-0.897465,-0.168745],[0.912835,0.395190,0.102750],[-0.025528,-0.195910,0.980290]]
2025-10-27T15:11:59.582Z,1761577919.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.60 m.
2025-10-27T15:11:59.590Z,1761577919.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.600189 m,
      nav range: 40.140289 m,
      bearing: 62.466280 deg,
      approach rate: -0.659381 m/s,
      LOS rate: 0.026862 deg/s,
      cmd heading: 64.482477 deg,
      new cmd heading: 64.511304 deg.

2025-10-27T15:11:59.595Z,1761577919.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125935 target range: 43.600189 and range: 43.80 m.
2025-10-27T15:11:59.682Z,1761577919.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266291
2025-10-27T15:11:59.937Z,1761577919.937 [DAT](INFO): DAT read: 15:11:57.9814 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 400, 0.43,-2.335, 2.415,-1.975,-2.268, PHS= 0.035,-1.555, 0.249, RAW= 156.2,  14.7, CAL= 156.8,  16.9, ROT= 353.2, -16.9

2025-10-27T15:11:59.939Z,1761577919.939 [DAT](INFO): got valid direction response:
 15:11:57.9814 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 400, 0.43,-2.335, 2.415,-1.975,-2.268, PHS= 0.035,-1.555, 0.249, RAW= 156.2,  14.7, CAL= 156.8,  16.9, ROT= 353.2, -16.9

2025-10-27T15:11:59.940Z,1761577919.940 [DAT](INFO): DAT read: Bearing 232.6, -10.5 (Local)

2025-10-27T15:11:59.940Z,1761577919.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.6, -10.5 (Local)

2025-10-27T15:11:59.941Z,1761577919.941 [DAT](INFO): DAT read: Range 11 to 50 : 41.2 m  (Round-trip  55.0 ms) speed  0.6 m/s

2025-10-27T15:11:59.942Z,1761577919.942 [DAT](INFO): DAT read: user:1011>

2025-10-27T15:11:59.944Z,1761577919.944 [DAT](INFO): DAT read: Tx time:15:11:59.0722

2025-10-27T15:11:59.944Z,1761577919.944 [DAT](INFO): Ping request sent.
2025-10-27T15:11:59.944Z,1761577919.944 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:11:59.944Z,1761577919.944 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:11:59.945Z,1761577919.945 [DAT](INFO): direction in FSK: [0.950083,-0.113290,0.290702]
2025-10-27T15:11:59.946Z,1761577919.946 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:59.946Z,1761577919.946 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:59.949Z,1761577919.949 [DAT](INFO): publishing transmit ping time
2025-10-27T15:11:59.949Z,1761577919.949 [DAT](INFO): publishing direction and range info
2025-10-27T15:11:59.960Z,1761577919.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410792,-0.896339,-0.166814],[0.911331,0.398273,0.104186],[-0.026948,-0.194822,0.980468]]
2025-10-27T15:12:00.033Z,1761577920.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.200001 m,
      deltaT: 3.528046 s,
      deltaX: -2.599998 m,
      approachRate: -0.736951 m/s,
      rangeRepo size: 4

2025-10-27T15:12:00.040Z,1761577920.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.012081 m,
      bearing: 62.482311 deg,
      lat: 36.779302 deg,
      lon: -121.859537 deg,
      deltaT: 3.528046 s,
      deltaX: -2.588108 m,
      approachRate: -0.733581 m/s,
      posRepo size: 4

2025-10-27T15:12:00.041Z,1761577920.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-10-27T15:12:00.048Z,1761577920.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.012081 m,
      nav range: 39.708820 m,
      bearing: 62.748816 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026862 deg/s,
      cmd heading: 64.511307 deg,
      new cmd heading: 64.547620 deg.

2025-10-27T15:12:00.049Z,1761577920.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126569 target range: 41.012081 and range: 41.20 m.
2025-10-27T15:12:00.131Z,1761577920.131 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:12:00.416Z,1761577920.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-10-27T15:12:00.419Z,1761577920.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.012081 m,
      nav range: 39.432198 m,
      bearing: 62.752109 deg,
      approach rate: -0.721403 m/s,
      LOS rate: 0.008648 deg/s,
      cmd heading: 64.547624 deg,
      new cmd heading: 64.557571 deg.

2025-10-27T15:12:00.420Z,1761577920.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126742 target range: 41.012081 and range: 41.20 m.
2025-10-27T15:12:00.767Z,1761577920.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416732,-0.893852,-0.165417],[0.908551,0.403657,0.107683],[-0.029481,-0.195164,0.980327]]
2025-10-27T15:12:00.785Z,1761577920.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-10-27T15:12:00.788Z,1761577920.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.012081 m,
      nav range: 39.184685 m,
      bearing: 62.757464 deg,
      approach rate: -0.670666 m/s,
      LOS rate: 0.014603 deg/s,
      cmd heading: 64.557568 deg,
      new cmd heading: 64.573736 deg.

2025-10-27T15:12:00.789Z,1761577920.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127024 target range: 41.012081 and range: 41.20 m.
2025-10-27T15:12:01.217Z,1761577921.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418632,-0.893481,-0.162603],[0.907636,0.405570,0.108216],[-0.030742,-0.192887,0.980739]]
2025-10-27T15:12:01.264Z,1761577921.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:01.266Z,1761577921.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-10-27T15:12:01.269Z,1761577921.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.012081 m,
      nav range: 38.837494 m,
      bearing: 62.752534 deg,
      approach rate: -0.721771 m/s,
      LOS rate: -0.010341 deg/s,
      cmd heading: 64.573735 deg,
      new cmd heading: 64.558813 deg.

2025-10-27T15:12:01.270Z,1761577921.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126764 target range: 41.012081 and range: 41.20 m.
2025-10-27T15:12:01.444Z,1761577921.444 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:12:01.444Z,1761577921.444 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:12:01.444Z,1761577921.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:12:01.577Z,1761577921.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420358,-0.893026,-0.160637],[0.906799,0.407247,0.108932],[-0.031860,-0.191455,0.980984]]
2025-10-27T15:12:01.595Z,1761577921.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-10-27T15:12:01.598Z,1761577921.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.012081 m,
      nav range: 38.599159 m,
      bearing: 62.749789 deg,
      approach rate: -0.725836 m/s,
      LOS rate: -0.008412 deg/s,
      cmd heading: 64.558811 deg,
      new cmd heading: 64.550525 deg.

2025-10-27T15:12:01.599Z,1761577921.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126619 target range: 41.012081 and range: 41.20 m.
2025-10-27T15:12:01.698Z,1761577921.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754267
2025-10-27T15:12:01.948Z,1761577921.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003960
2025-10-27T15:12:01.978Z,1761577921.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421338,-0.892996,-0.158217],[0.906306,0.408270,0.109201],[-0.032920,-0.189403,0.981347]]
2025-10-27T15:12:02.009Z,1761577922.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-10-27T15:12:02.016Z,1761577922.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.012081 m,
      nav range: 38.308548 m,
      bearing: 62.746892 deg,
      approach rate: -0.701248 m/s,
      LOS rate: -0.007043 deg/s,
      cmd heading: 64.550526 deg,
      new cmd heading: 64.541770 deg.

2025-10-27T15:12:02.017Z,1761577922.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126466 target range: 41.012081 and range: 41.20 m.
2025-10-27T15:12:02.203Z,1761577922.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258591
2025-10-27T15:12:02.382Z,1761577922.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421844,-0.893211,-0.155634],[0.906035,0.408881,0.109159],[-0.033866,-0.187058,0.981765]]
2025-10-27T15:12:02.427Z,1761577922.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-10-27T15:12:02.430Z,1761577922.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.012081 m,
      nav range: 37.988560 m,
      bearing: 62.721547 deg,
      approach rate: -0.766623 m/s,
      LOS rate: -0.061234 deg/s,
      cmd heading: 64.541770 deg,
      new cmd heading: 64.465093 deg.

2025-10-27T15:12:02.430Z,1761577922.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125128 target range: 41.012081 and range: 41.20 m.
2025-10-27T15:12:02.452Z,1761577922.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507983
2025-10-27T15:12:02.705Z,1761577922.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761268
2025-10-27T15:12:02.788Z,1761577922.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421301,-0.894059,-0.152198],[0.906260,0.408618,0.108280],[-0.034618,-0.183549,0.982401]]
2025-10-27T15:12:02.811Z,1761577922.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-10-27T15:12:02.814Z,1761577922.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.012081 m,
      nav range: 37.702503 m,
      bearing: 62.698282 deg,
      approach rate: -0.744079 m/s,
      LOS rate: -0.060976 deg/s,
      cmd heading: 64.465094 deg,
      new cmd heading: 64.394769 deg.

2025-10-27T15:12:02.815Z,1761577922.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123901 target range: 41.012081 and range: 41.20 m.
2025-10-27T15:12:02.956Z,1761577922.956 [DAT](INFO): DAT read: Rx Time:15:12:01.5283

2025-10-27T15:12:02.956Z,1761577922.956 [DAT](INFO): Rx dataTimestamp_ set to:1761577922.956101
2025-10-27T15:12:02.957Z,1761577922.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012983
2025-10-27T15:12:03.217Z,1761577923.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272597
2025-10-27T15:12:03.236Z,1761577923.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420243,-0.894848,-0.150477],[0.906724,0.407656,0.108020],[-0.035318,-0.181835,0.982695]]
2025-10-27T15:12:03.294Z,1761577923.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:03.297Z,1761577923.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-10-27T15:12:03.300Z,1761577923.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.012081 m,
      nav range: 37.330643 m,
      bearing: 62.650943 deg,
      approach rate: -0.765332 m/s,
      LOS rate: -0.098400 deg/s,
      cmd heading: 64.394771 deg,
      new cmd heading: 64.251339 deg.

2025-10-27T15:12:03.301Z,1761577923.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121397 target range: 41.012081 and range: 41.20 m.
2025-10-27T15:12:03.470Z,1761577923.470 [DAT](INFO): DAT read: 15:12:01.5283 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 416,-0.17,-0.006,-1.558, 0.386, 0.080, PHS= 0.016,-1.593, 0.262, RAW= 157.0,  14.9, CAL= 157.7,  17.2, ROT= 352.3, -17.2

2025-10-27T15:12:03.471Z,1761577923.471 [DAT](INFO): got valid direction response:
 15:12:01.5283 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 416,-0.17,-0.006,-1.558, 0.386, 0.080, PHS= 0.016,-1.593, 0.262, RAW= 157.0,  14.9, CAL= 157.7,  17.2, ROT= 352.3, -17.2

2025-10-27T15:12:03.472Z,1761577923.472 [DAT](INFO): DAT read: Bearing 231.6, -12.0 (Local)

2025-10-27T15:12:03.472Z,1761577923.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.6, -12.0 (Local)

2025-10-27T15:12:03.474Z,1761577923.474 [DAT](INFO): DAT read: Range 11 to 50 : 38.9 m  (Round-trip  51.9 ms) speed  0.6 m/s

2025-10-27T15:12:03.474Z,1761577923.474 [DAT](INFO): DAT read: user:1012>

2025-10-27T15:12:03.475Z,1761577923.475 [DAT](INFO): DAT read: Tx time:15:12:02.6222

2025-10-27T15:12:03.475Z,1761577923.475 [DAT](INFO): Ping request sent.
2025-10-27T15:12:03.476Z,1761577923.476 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:12:03.476Z,1761577923.476 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:12:03.477Z,1761577923.477 [DAT](INFO): direction in FSK: [0.946665,-0.127994,0.295708]
2025-10-27T15:12:03.477Z,1761577923.477 [DAT](INFO): publishing transmit ping time
2025-10-27T15:12:03.477Z,1761577923.477 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:03.481Z,1761577923.481 [DAT](INFO): publishing transmit ping time
2025-10-27T15:12:03.481Z,1761577923.481 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:03.628Z,1761577923.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419155,-0.895673,-0.148593],[0.907213,0.406749,0.107331],[-0.035694,-0.179794,0.983057]]
2025-10-27T15:12:03.671Z,1761577923.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.900002 m,
      deltaT: 3.532044 s,
      deltaX: -2.299999 m,
      approachRate: -0.651181 m/s,
      rangeRepo size: 4

2025-10-27T15:12:03.673Z,1761577923.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.722668 m,
      bearing: 60.858548 deg,
      lat: 36.779302 deg,
      lon: -121.859537 deg,
      deltaT: 3.532044 s,
      deltaX: -2.289413 m,
      approachRate: -0.648184 m/s,
      posRepo size: 4

2025-10-27T15:12:03.674Z,1761577923.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.72 m.
2025-10-27T15:12:03.677Z,1761577923.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.722668 m,
      nav range: 37.059444 m,
      bearing: 62.615316 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.098400 deg/s,
      cmd heading: 64.251337 deg,
      new cmd heading: 64.142264 deg.

2025-10-27T15:12:03.678Z,1761577923.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119494 target range: 38.722668 and range: 38.90 m.
2025-10-27T15:12:04.023Z,1761577924.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417540,-0.896755,-0.146597],[0.907943,0.405345,0.106463],[-0.036049,-0.177555,0.983450]]
2025-10-27T15:12:04.039Z,1761577924.039 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-27T15:12:04.039Z,1761577924.039 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-27T15:12:04.039Z,1761577924.039 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-27T15:12:04.041Z,1761577924.041 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.900002 m (mode  2.000000 count ).
2025-10-27T15:12:04.041Z,1761577924.041 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-27T15:12:04.041Z,1761577924.041 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-27T15:12:04.059Z,1761577924.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.72 m.
2025-10-27T15:12:04.062Z,1761577924.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.722668 m,
      nav range: 36.760014 m,
      bearing: 62.574536 deg,
      approach rate: -0.794877 m/s,
      LOS rate: -0.109136 deg/s,
      cmd heading: 64.142266 deg,
      new cmd heading: 64.018931 deg.

2025-10-27T15:12:04.063Z,1761577924.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117341 target range: 38.722668 and range: 38.90 m.
2025-10-27T15:12:04.428Z,1761577924.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415296,-0.898198,-0.144116],[0.908967,0.403429,0.104990],[-0.036162,-0.174599,0.983975]]
2025-10-27T15:12:04.462Z,1761577924.462 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-27T15:12:04.462Z,1761577924.462 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-27T15:12:04.487Z,1761577924.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.72 m.
2025-10-27T15:12:04.490Z,1761577924.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.722668 m,
      nav range: 36.416523 m,
      bearing: 62.513992 deg,
      approach rate: -0.782943 m/s,
      LOS rate: -0.139304 deg/s,
      cmd heading: 64.018933 deg,
      new cmd heading: 63.835588 deg.

2025-10-27T15:12:04.495Z,1761577924.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.114141 target range: 38.722668 and range: 38.90 m.
2025-10-27T15:12:04.830Z,1761577924.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413058,-0.899434,-0.142830],[0.909988,0.401405,0.103907],[-0.036125,-0.172894,0.984278]]
2025-10-27T15:12:04.861Z,1761577924.861 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-27T15:12:04.861Z,1761577924.861 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-27T15:12:04.863Z,1761577924.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.72 m.
2025-10-27T15:12:04.866Z,1761577924.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.722668 m,
      nav range: 36.096428 m,
      bearing: 62.455244 deg,
      approach rate: -0.839666 m/s,
      LOS rate: -0.155473 deg/s,
      cmd heading: 63.835590 deg,
      new cmd heading: 63.657784 deg.

2025-10-27T15:12:04.867Z,1761577924.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.111038 target range: 38.722668 and range: 38.90 m.
2025-10-27T15:12:05.279Z,1761577925.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410919,-0.900817,-0.140266],[0.910952,0.399592,0.102430],[-0.036222,-0.169866,0.984801]]
2025-10-27T15:12:05.317Z,1761577925.317 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-27T15:12:05.317Z,1761577925.317 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-27T15:12:05.318Z,1761577925.318 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-27T15:12:05.318Z,1761577925.318 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-27T15:12:05.318Z,1761577925.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:05.321Z,1761577925.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.72 m.
2025-10-27T15:12:05.344Z,1761577925.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.722668 m,
      nav range: 35.711960 m,
      bearing: 62.389551 deg,
      approach rate: -0.840165 m/s,
      LOS rate: -0.145104 deg/s,
      cmd heading: 63.657787 deg,
      new cmd heading: 63.458584 deg.

2025-10-27T15:12:05.345Z,1761577925.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107561 target range: 38.722668 and range: 38.90 m.
2025-10-27T15:12:05.480Z,1761577925.480 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:12:05.480Z,1761577925.480 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:12:05.481Z,1761577925.481 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:12:05.640Z,1761577925.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408924,-0.901834,-0.139560],[0.911853,0.397742,0.101614],[-0.036130,-0.168811,0.984986]]
2025-10-27T15:12:05.659Z,1761577925.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.72 m.
2025-10-27T15:12:05.662Z,1761577925.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.722668 m,
      nav range: 35.427929 m,
      bearing: 62.339061 deg,
      approach rate: -0.839246 m/s,
      LOS rate: -0.150381 deg/s,
      cmd heading: 63.458584 deg,
      new cmd heading: 63.305901 deg.

2025-10-27T15:12:05.663Z,1761577925.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104896 target range: 38.722668 and range: 38.90 m.
2025-10-27T15:12:05.733Z,1761577925.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256880
2025-10-27T15:12:05.984Z,1761577925.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508198
2025-10-27T15:12:06.042Z,1761577926.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406895,-0.902690,-0.139957],[0.912775,0.395786,0.100967],[-0.035749,-0.168832,0.984996]]
2025-10-27T15:12:06.078Z,1761577926.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.72 m.
2025-10-27T15:12:06.084Z,1761577926.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.722668 m,
      nav range: 35.078110 m,
      bearing: 62.274456 deg,
      approach rate: -0.834723 m/s,
      LOS rate: -0.155694 deg/s,
      cmd heading: 63.305902 deg,
      new cmd heading: 63.110156 deg.

2025-10-27T15:12:06.088Z,1761577926.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101480 target range: 38.722668 and range: 38.90 m.
2025-10-27T15:12:06.236Z,1761577926.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760336
2025-10-27T15:12:06.445Z,1761577926.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405406,-0.903284,-0.140443],[0.913462,0.394395,0.100198],[-0.035117,-0.168910,0.985006]]
2025-10-27T15:12:06.489Z,1761577926.489 [DAT](INFO): DAT read: Rx Time:15:12:05.0746

2025-10-27T15:12:06.489Z,1761577926.489 [DAT](INFO): Rx dataTimestamp_ set to:1761577926.489126
2025-10-27T15:12:06.490Z,1761577926.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014352
2025-10-27T15:12:06.518Z,1761577926.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.72 m.
2025-10-27T15:12:06.525Z,1761577926.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.722668 m,
      nav range: 34.722160 m,
      bearing: 62.219783 deg,
      approach rate: -0.809635 m/s,
      LOS rate: -0.125632 deg/s,
      cmd heading: 63.110156 deg,
      new cmd heading: 62.944457 deg.

2025-10-27T15:12:06.526Z,1761577926.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098588 target range: 38.722668 and range: 38.90 m.
2025-10-27T15:12:06.741Z,1761577926.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264942
2025-10-27T15:12:06.850Z,1761577926.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404489,-0.903484,-0.141791],[0.913886,0.393437,0.100096],[-0.034650,-0.170069,0.984823]]
2025-10-27T15:12:06.905Z,1761577926.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.72 m.
2025-10-27T15:12:06.916Z,1761577926.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.722668 m,
      nav range: 34.417110 m,
      bearing: 62.171530 deg,
      approach rate: -0.788722 m/s,
      LOS rate: -0.125868 deg/s,
      cmd heading: 62.944455 deg,
      new cmd heading: 62.798412 deg.

2025-10-27T15:12:06.917Z,1761577926.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096039 target range: 38.722668 and range: 38.90 m.
2025-10-27T15:12:06.998Z,1761577926.998 [DAT](INFO): DAT read: 15:12:05.0746 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 411, 0.24,-0.466,-2.008,-0.049,-0.393, PHS= 0.029,-1.570, 0.300, RAW= 157.7,  14.1, CAL= 158.3,  16.1, ROT= 351.7, -16.1

2025-10-27T15:12:06.999Z,1761577926.999 [DAT](INFO): got valid direction response:
 15:12:05.0746 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 411, 0.24,-0.466,-2.008,-0.049,-0.393, PHS= 0.029,-1.570, 0.300, RAW= 157.7,  14.1, CAL= 158.3,  16.1, ROT= 351.7, -16.1

2025-10-27T15:12:06.000Z,1761577927.000 [DAT](INFO): DAT read: Bearing 230.2, -12.9 (Local)

2025-10-27T15:12:07.000Z,1761577927.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.2, -12.9 (Local)

2025-10-27T15:12:07.002Z,1761577927.002 [DAT](INFO): DAT read: Range 11 to 50 : 36.2 m  (Round-trip  48.3 ms) speed  0.6 m/s

2025-10-27T15:12:07.002Z,1761577927.002 [DAT](INFO): DAT read: user:1013>

2025-10-27T15:12:07.003Z,1761577927.003 [DAT](INFO): DAT read: Tx time:15:12:06.1721

2025-10-27T15:12:07.004Z,1761577927.004 [DAT](INFO): Ping request sent.
2025-10-27T15:12:07.004Z,1761577927.004 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:12:07.004Z,1761577927.004 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T15:12:07.005Z,1761577927.005 [DAT](INFO): direction in FSK: [0.950716,-0.138694,0.277315]
2025-10-27T15:12:07.005Z,1761577927.005 [DAT](INFO): publishing transmit ping time
2025-10-27T15:12:07.005Z,1761577927.005 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:07.013Z,1761577927.013 [DAT](INFO): publishing transmit ping time
2025-10-27T15:12:07.013Z,1761577927.013 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:07.029Z,1761577927.029 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.024951
2025-10-27T15:12:07.246Z,1761577927.246 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.241923
2025-10-27T15:12:07.326Z,1761577927.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404637,-0.902741,-0.146041],[0.913831,0.393161,0.101668],[-0.034362,-0.174595,0.984040]]
2025-10-27T15:12:07.388Z,1761577927.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.200001 m,
      deltaT: 3.528112 s,
      deltaX: -2.700001 m,
      approachRate: -0.765282 m/s,
      rangeRepo size: 4

2025-10-27T15:12:07.390Z,1761577927.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.034637 m,
      bearing: 60.874355 deg,
      lat: 36.779304 deg,
      lon: -121.859535 deg,
      deltaT: 3.528112 s,
      deltaX: -2.688030 m,
      approachRate: -0.761889 m/s,
      posRepo size: 4

2025-10-27T15:12:07.392Z,1761577927.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.03 m.
2025-10-27T15:12:07.411Z,1761577927.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.034637 m,
      nav range: 34.302879 m,
      bearing: 61.942708 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125868 deg/s,
      cmd heading: 62.798412 deg,
      new cmd heading: 62.616011 deg.

2025-10-27T15:12:07.412Z,1761577927.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.092856 target range: 36.034637 and range: 36.20 m.
2025-10-27T15:12:07.498Z,1761577927.498 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.494235
2025-10-27T15:12:07.753Z,1761577927.753 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.749224
2025-10-27T15:12:07.770Z,1761577927.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:07.778Z,1761577927.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.03 m.
2025-10-27T15:12:07.781Z,1761577927.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.034637 m,
      nav range: 33.987881 m,
      bearing: 61.910383 deg,
      approach rate: -0.807426 m/s,
      LOS rate: -0.083626 deg/s,
      cmd heading: 62.616012 deg,
      new cmd heading: 62.518138 deg.

2025-10-27T15:12:07.782Z,1761577927.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091147 target range: 36.034637 and range: 36.20 m.
2025-10-27T15:12:08.004Z,1761577928.004 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.000263
2025-10-27T15:12:08.132Z,1761577928.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406524,-0.901494,-0.148481],[0.912996,0.394736,0.103060],[-0.034297,-0.177459,0.983530]]
2025-10-27T15:12:08.150Z,1761577928.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.03 m.
2025-10-27T15:12:08.153Z,1761577928.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.034637 m,
      nav range: 33.691814 m,
      bearing: 61.880538 deg,
      approach rate: -0.795841 m/s,
      LOS rate: -0.080930 deg/s,
      cmd heading: 62.518135 deg,
      new cmd heading: 62.427813 deg.

2025-10-27T15:12:08.154Z,1761577928.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089571 target range: 36.034637 and range: 36.20 m.
2025-10-27T15:12:08.258Z,1761577928.258 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.254325
2025-10-27T15:12:08.508Z,1761577928.508 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.504146
2025-10-27T15:12:08.533Z,1761577928.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408062,-0.900489,-0.150349],[0.912295,0.395941,0.104637],[-0.034695,-0.179861,0.983080]]
2025-10-27T15:12:08.588Z,1761577928.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.03 m.
2025-10-27T15:12:08.591Z,1761577928.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.034637 m,
      nav range: 33.370819 m,
      bearing: 61.875482 deg,
      approach rate: -0.732122 m/s,
      LOS rate: -0.011641 deg/s,
      cmd heading: 62.427813 deg,
      new cmd heading: 62.412501 deg.

2025-10-27T15:12:08.592Z,1761577928.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089304 target range: 36.034637 and range: 36.20 m.
2025-10-27T15:12:08.764Z,1761577928.764 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.760222
2025-10-27T15:12:08.947Z,1761577928.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410256,-0.899276,-0.151637],[0.911292,0.397831,0.106198],[-0.035175,-0.181753,0.982715]]
2025-10-27T15:12:08.965Z,1761577928.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.03 m.
2025-10-27T15:12:08.968Z,1761577928.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.034637 m,
      nav range: 33.089508 m,
      bearing: 61.872171 deg,
      approach rate: -0.745780 m/s,
      LOS rate: -0.008853 deg/s,
      cmd heading: 62.412500 deg,
      new cmd heading: 62.402481 deg.

2025-10-27T15:12:08.969Z,1761577928.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089129 target range: 36.034637 and range: 36.20 m.
2025-10-27T15:12:09.012Z,1761577929.012 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.008284
2025-10-27T15:12:09.265Z,1761577929.265 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.260924
2025-10-27T15:12:09.352Z,1761577929.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412939,-0.897577,-0.154390],[0.910053,0.399975,0.108738],[-0.035849,-0.185405,0.982008]]
2025-10-27T15:12:09.402Z,1761577929.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.03 m.
2025-10-27T15:12:09.404Z,1761577929.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.034637 m,
      nav range: 32.792213 m,
      bearing: 61.887034 deg,
      approach rate: -0.681712 m/s,
      LOS rate: 0.034390 deg/s,
      cmd heading: 62.402480 deg,
      new cmd heading: 62.447472 deg.

2025-10-27T15:12:09.405Z,1761577929.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089914 target range: 36.034637 and range: 36.20 m.
2025-10-27T15:12:09.516Z,1761577929.516 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.512268
2025-10-27T15:12:09.757Z,1761577929.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416083,-0.895898,-0.155698],[0.908592,0.402728,0.110772],[-0.036536,-0.187557,0.981574]]
2025-10-27T15:12:09.768Z,1761577929.768 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.764319
2025-10-27T15:12:09.777Z,1761577929.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:09.780Z,1761577929.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.03 m.
2025-10-27T15:12:09.782Z,1761577929.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.034637 m,
      nav range: 32.526329 m,
      bearing: 61.902188 deg,
      approach rate: -0.702994 m/s,
      LOS rate: 0.040395 deg/s,
      cmd heading: 62.447470 deg,
      new cmd heading: 62.493304 deg.

2025-10-27T15:12:09.784Z,1761577929.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090714 target range: 36.034637 and range: 36.20 m.
2025-10-27T15:12:10.021Z,1761577930.021 [DAT](INFO): DAT read: Rx Time:15:12:08.6209

2025-10-27T15:12:10.022Z,1761577930.022 [DAT](INFO): Rx dataTimestamp_ set to:1761577930.021108
2025-10-27T15:12:10.022Z,1761577930.022 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.018634
2025-10-27T15:12:10.215Z,1761577930.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.03 m.
2025-10-27T15:12:10.218Z,1761577930.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.034637 m,
      nav range: 32.246758 m,
      bearing: 61.918391 deg,
      approach rate: -0.648641 m/s,
      LOS rate: 0.037921 deg/s,
      cmd heading: 62.493301 deg,
      new cmd heading: 62.542333 deg.

2025-10-27T15:12:10.220Z,1761577930.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091570 target range: 36.034637 and range: 36.20 m.
2025-10-27T15:12:10.273Z,1761577930.273 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.269551
2025-10-27T15:12:10.538Z,1761577930.538 [DAT](INFO): DAT read: 15:12:08.6209 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 406,-0.01,-0.506,-2.047,-0.112,-0.421, PHS= 0.017,-1.581, 0.265, RAW= 157.1,  14.8, CAL= 157.8,  17.0, ROT= 352.2, -17.0

2025-10-27T15:12:10.561Z,1761577930.561 [DAT](INFO): got valid direction response:
 15:12:08.6209 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 406,-0.01,-0.506,-2.047,-0.112,-0.421, PHS= 0.017,-1.581, 0.265, RAW= 157.1,  14.8, CAL= 157.8,  17.0, ROT= 352.2, -17.0

2025-10-27T15:12:10.561Z,1761577930.561 [DAT](INFO): DAT read: Bearing 230.1, -13.2 (Local)

2025-10-27T15:12:10.562Z,1761577930.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.1, -13.2 (Local)

2025-10-27T15:12:10.563Z,1761577930.563 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m  (Round-trip  44.7 ms) speed  0.6 m/s

2025-10-27T15:12:10.564Z,1761577930.564 [DAT](INFO): DAT read: user:1014>

2025-10-27T15:12:10.565Z,1761577930.565 [DAT](INFO): DAT read: Tx time:15:12:09.7221

2025-10-27T15:12:10.565Z,1761577930.565 [DAT](INFO): Ping request sent.
2025-10-27T15:12:10.565Z,1761577930.565 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:12:10.565Z,1761577930.565 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-27T15:12:10.566Z,1761577930.566 [DAT](INFO): direction in FSK: [0.947457,-0.129785,0.292372]
2025-10-27T15:12:10.570Z,1761577930.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423160,-0.891826,-0.159943],[0.905239,0.408650,0.116396],[-0.038444,-0.194041,0.980240]]
2025-10-27T15:12:10.575Z,1761577930.575 [DAT](INFO): publishing transmit ping time
2025-10-27T15:12:10.575Z,1761577930.575 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:10.578Z,1761577930.578 [DAT](INFO): publishing transmit ping time
2025-10-27T15:12:10.579Z,1761577930.579 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:10.586Z,1761577930.586 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.020828
2025-10-27T15:12:10.675Z,1761577930.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.500000 m,
      deltaT: 3.533561 s,
      deltaX: -2.700001 m,
      approachRate: -0.764102 m/s,
      rangeRepo size: 4

2025-10-27T15:12:10.677Z,1761577930.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.346931 m,
      bearing: 60.737943 deg,
      lat: 36.779310 deg,
      lon: -121.859538 deg,
      deltaT: 3.533561 s,
      deltaX: -2.687706 m,
      approachRate: -0.760623 m/s,
      posRepo size: 4

2025-10-27T15:12:10.678Z,1761577930.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.35 m.
2025-10-27T15:12:10.696Z,1761577930.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.346931 m,
      nav range: 32.057816 m,
      bearing: 60.737826 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037921 deg/s,
      cmd heading: 62.542335 deg,
      new cmd heading: 62.594584 deg.

2025-10-27T15:12:10.698Z,1761577930.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.092482 target range: 33.346931 and range: 33.50 m.
2025-10-27T15:12:10.777Z,1761577930.777 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.211454
2025-10-27T15:12:10.958Z,1761577930.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427079,-0.890031,-0.159526],[0.903344,0.412235,0.118458],[-0.039669,-0.194698,0.980061]]
2025-10-27T15:12:11.024Z,1761577931.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.35 m.
2025-10-27T15:12:11.028Z,1761577931.028 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.462853
2025-10-27T15:12:11.031Z,1761577931.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.346931 m,
      nav range: 31.847485 m,
      bearing: 60.760269 deg,
      approach rate: -0.593568 m/s,
      LOS rate: 0.063755 deg/s,
      cmd heading: 62.594586 deg,
      new cmd heading: 62.662360 deg.

2025-10-27T15:12:11.032Z,1761577931.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093665 target range: 33.346931 and range: 33.50 m.
2025-10-27T15:12:11.280Z,1761577931.280 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.714621
2025-10-27T15:12:11.374Z,1761577931.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430873,-0.888561,-0.157503],[0.901490,0.415935,0.119646],[-0.040802,-0.193539,0.980244]]
2025-10-27T15:12:11.424Z,1761577931.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.35 m.
2025-10-27T15:12:11.427Z,1761577931.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.346931 m,
      nav range: 31.571064 m,
      bearing: 60.796966 deg,
      approach rate: -0.691506 m/s,
      LOS rate: 0.092607 deg/s,
      cmd heading: 62.662362 deg,
      new cmd heading: 62.773417 deg.

2025-10-27T15:12:11.428Z,1761577931.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095603 target range: 33.346931 and range: 33.50 m.
2025-10-27T15:12:11.532Z,1761577931.532 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.966732
2025-10-27T15:12:11.768Z,1761577931.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434977,-0.886698,-0.156725],[0.899460,0.419746,0.121592],[-0.042031,-0.193858,0.980129]]
2025-10-27T15:12:11.784Z,1761577931.784 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.218902
2025-10-27T15:12:11.796Z,1761577931.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:11.798Z,1761577931.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.35 m.
2025-10-27T15:12:11.801Z,1761577931.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.346931 m,
      nav range: 31.336086 m,
      bearing: 60.830645 deg,
      approach rate: -0.628996 m/s,
      LOS rate: 0.090830 deg/s,
      cmd heading: 62.773414 deg,
      new cmd heading: 62.875209 deg.

2025-10-27T15:12:11.802Z,1761577931.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097379 target range: 33.346931 and range: 33.50 m.
2025-10-27T15:12:12.036Z,1761577932.036 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.470631
2025-10-27T15:12:12.172Z,1761577932.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439330,-0.884580,-0.156547],[0.897289,0.423738,0.123772],[-0.043151,-0.194845,0.979884]]
2025-10-27T15:12:12.206Z,1761577932.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.35 m.
2025-10-27T15:12:12.210Z,1761577932.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.346931 m,
      nav range: 31.085014 m,
      bearing: 60.869445 deg,
      approach rate: -0.619130 m/s,
      LOS rate: 0.096449 deg/s,
      cmd heading: 62.875211 deg,
      new cmd heading: 62.992548 deg.

2025-10-27T15:12:12.211Z,1761577932.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099427 target range: 33.346931 and range: 33.50 m.
2025-10-27T15:12:12.289Z,1761577932.289 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.723728
2025-10-27T15:12:12.540Z,1761577932.540 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.974745
2025-10-27T15:12:12.574Z,1761577932.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443599,-0.882785,-0.154626],[0.895124,0.427860,0.125258],[-0.044417,-0.193974,0.980001]]
2025-10-27T15:12:12.620Z,1761577932.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.35 m.
2025-10-27T15:12:12.623Z,1761577932.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.346931 m,
      nav range: 30.818575 m,
      bearing: 60.899563 deg,
      approach rate: -0.638628 m/s,
      LOS rate: 0.072815 deg/s,
      cmd heading: 62.992547 deg,
      new cmd heading: 63.083683 deg.

2025-10-27T15:12:12.624Z,1761577932.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101018 target range: 33.346931 and range: 33.50 m.
2025-10-27T15:12:12.792Z,1761577932.792 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.226647
2025-10-27T15:12:12.978Z,1761577932.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448298,-0.880385,-0.154758],[0.892714,0.432096,0.127887],[-0.045719,-0.195486,0.979640]]
2025-10-27T15:12:13.009Z,1761577933.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.35 m.
2025-10-27T15:12:13.016Z,1761577933.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.346931 m,
      nav range: 30.577053 m,
      bearing: 60.929687 deg,
      approach rate: -0.621654 m/s,
      LOS rate: 0.078149 deg/s,
      cmd heading: 63.083682 deg,
      new cmd heading: 63.174768 deg.

2025-10-27T15:12:13.017Z,1761577933.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.102608 target range: 33.346931 and range: 33.50 m.
2025-10-27T15:12:13.044Z,1761577933.044 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.478918
2025-10-27T15:12:13.297Z,1761577933.297 [DAT](INFO): DAT read: Rx Time:15:12:11.8926 

2025-10-27T15:12:13.297Z,1761577933.297 [DAT](INFO): Rx dataTimestamp_ set to:1761577933.297068
2025-10-27T15:12:13.299Z,1761577933.299 [DAT](INFO): DAT read: Bearing 230.3, -14.4 (Local)

2025-10-27T15:12:13.299Z,1761577933.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.3, -14.4 (Local)

2025-10-27T15:12:13.301Z,1761577933.301 [DAT](INFO): DAT read: Range 11 to 50 :    31.1 m (trip time 20.7 ms) speed 0.4

2025-10-27T15:12:13.306Z,1761577933.306 [DAT](INFO): DAT read: 15:12:11.8926 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 149,-0.38, 1.809, 0.272, 2.227, 1.933, PHS=-0.023,-1.616, 0.249, RAW= 157.8,  15.7, CAL= 158.6,  18.3, ROT= 351.4, -18.3

2025-10-27T15:12:13.307Z,1761577933.307 [DAT](INFO): got valid direction response:
 15:12:11.8926 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 149,-0.38, 1.809, 0.272, 2.227, 1.933, PHS=-0.023,-1.616, 0.249, RAW= 157.8,  15.7, CAL= 158.6,  18.3, ROT= 351.4, -18.3

2025-10-27T15:12:13.307Z,1761577933.307 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-27T15:12:13.308Z,1761577933.308 [DAT](INFO): direction in FSK: [0.938750,-0.141973,0.313992]
2025-10-27T15:12:13.308Z,1761577933.308 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:13.313Z,1761577933.313 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.747257
2025-10-27T15:12:13.437Z,1761577933.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451905,-0.878796,-0.153297],[0.890824,0.435496,0.129522],[-0.047064,-0.195092,0.979655]]
2025-10-27T15:12:13.529Z,1761577933.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.100000 m,
      deltaT: 2.772026 s,
      deltaX: -2.400000 m,
      approachRate: -0.865793 m/s,
      rangeRepo size: 4

2025-10-27T15:12:13.535Z,1761577933.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.957874 m,
      bearing: 58.430446 deg,
      lat: 36.779311 deg,
      lon: -121.859542 deg,
      deltaT: 2.772026 s,
      deltaX: -2.389057 m,
      approachRate: -0.861845 m/s,
      posRepo size: 4

2025-10-27T15:12:13.536Z,1761577933.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.96 m.
2025-10-27T15:12:13.539Z,1761577933.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.957874 m,
      nav range: 30.007652 m,
      bearing: 60.398998 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.078149 deg/s,
      cmd heading: 63.174769 deg,
      new cmd heading: 63.296529 deg.

2025-10-27T15:12:13.544Z,1761577933.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104733 target range: 30.957874 and range: 31.10 m.
2025-10-27T15:12:13.548Z,1761577933.548 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.982756
2025-10-27T15:12:13.801Z,1761577933.801 [DAT](INFO): DAT read: Rx Time:15:12:12.3922 

2025-10-27T15:12:13.801Z,1761577933.801 [DAT](INFO): Rx dataTimestamp_ set to:1761577933.800752
2025-10-27T15:12:13.802Z,1761577933.802 [DAT](INFO): DAT read: Bearing 230.5, -14.3 (Local)

2025-10-27T15:12:13.803Z,1761577933.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.5, -14.3 (Local)

2025-10-27T15:12:13.805Z,1761577933.805 [DAT](INFO): DAT read: Range 11 to 50 :    30.5 m (trip time 20.3 ms) speed 0.5

2025-10-27T15:12:13.809Z,1761577933.809 [DAT](INFO): DAT read: 15:12:12.3922 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.32, 1.837, 0.279, 2.253, 1.968, PHS=-0.029,-1.644, 0.241, RAW= 157.6,  16.0, CAL= 158.5,  18.6, ROT= 351.5, -18.6

2025-10-27T15:12:13.811Z,1761577933.811 [DAT](INFO): got valid direction response:
 15:12:12.3922 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.32, 1.837, 0.279, 2.253, 1.968, PHS=-0.029,-1.644, 0.241, RAW= 157.6,  16.0, CAL= 158.5,  18.6, ROT= 351.5, -18.6

2025-10-27T15:12:13.812Z,1761577933.812 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-27T15:12:13.813Z,1761577933.813 [DAT](INFO): direction in FSK: [0.937358,-0.140089,0.318959]
2025-10-27T15:12:13.813Z,1761577933.813 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:13.816Z,1761577933.816 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.251161
2025-10-27T15:12:13.833Z,1761577933.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455111,-0.877414,-0.151720],[0.889135,0.438600,0.130644],[-0.048084,-0.194357,0.979752]]
2025-10-27T15:12:13.931Z,1761577933.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 0.503684 s,
      deltaX: -0.600000 m,
      approachRate: -1.191224 m/s,
      rangeRepo size: 4

2025-10-27T15:12:13.933Z,1761577933.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.360565 m,
      bearing: 58.371631 deg,
      lat: 36.779311 deg,
      lon: -121.859542 deg,
      deltaT: 0.503684 s,
      deltaX: -0.597309 m,
      approachRate: -1.185881 m/s,
      posRepo size: 4

2025-10-27T15:12:13.934Z,1761577933.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.36 m.
2025-10-27T15:12:13.940Z,1761577933.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.360565 m,
      nav range: 29.771036 m,
      bearing: 60.289289 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.078149 deg/s,
      cmd heading: 63.296531 deg,
      new cmd heading: 63.387022 deg.

2025-10-27T15:12:13.941Z,1761577933.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106312 target range: 30.360565 and range: 30.50 m.
2025-10-27T15:12:14.052Z,1761577934.052 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.486837
2025-10-27T15:12:14.233Z,1761577934.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457228,-0.876598,-0.150062],[0.887998,0.440689,0.131348],[-0.049008,-0.193311,0.979913]]
2025-10-27T15:12:14.256Z,1761577934.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:14.258Z,1761577934.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.36 m.
2025-10-27T15:12:14.261Z,1761577934.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.360565 m,
      nav range: 29.538029 m,
      bearing: 60.296876 deg,
      approach rate: -0.677070 m/s,
      LOS rate: 0.022219 deg/s,
      cmd heading: 63.387024 deg,
      new cmd heading: 63.409963 deg.

2025-10-27T15:12:14.262Z,1761577934.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106713 target range: 30.360565 and range: 30.50 m.
2025-10-27T15:12:14.305Z,1761577934.305 [DAT](INFO): DAT read: Rx Time:15:12:12.8921 

2025-10-27T15:12:14.305Z,1761577934.305 [DAT](INFO): Rx dataTimestamp_ set to:1761577934.304731
2025-10-27T15:12:14.306Z,1761577934.306 [DAT](INFO): DAT read: Bearing 234.9, -19.3 (Local)

2025-10-27T15:12:14.307Z,1761577934.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.9, -19.3 (Local)

2025-10-27T15:12:14.309Z,1761577934.309 [DAT](INFO): DAT read: Range 11 to 50 :    30.3 m (trip time 20.2 ms) speed 0.8

2025-10-27T15:12:14.313Z,1761577934.313 [DAT](INFO): DAT read: 15:12:12.8921 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.50, 0.760,-0.862, 1.366, 1.064, PHS=-0.203,-1.882, 0.258, RAW= 161.8,  18.3, CAL= 163.2,  23.5, ROT= 346.8, -23.5

2025-10-27T15:12:14.314Z,1761577934.314 [DAT](INFO): got valid direction response:
 15:12:12.8921 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.50, 0.760,-0.862, 1.366, 1.064, PHS=-0.203,-1.882, 0.258, RAW= 161.8,  18.3, CAL= 163.2,  23.5, ROT= 346.8, -23.5

2025-10-27T15:12:14.315Z,1761577934.315 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-27T15:12:14.316Z,1761577934.316 [DAT](INFO): direction in FSK: [0.892830,-0.209412,0.398749]
2025-10-27T15:12:14.316Z,1761577934.316 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:14.320Z,1761577934.320 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.755244
2025-10-27T15:12:14.558Z,1761577934.558 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.992694
2025-10-27T15:12:14.638Z,1761577934.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457960,-0.876388,-0.149053],[0.887602,0.441472,0.131398],[-0.049353,-0.192475,0.980060]]
2025-10-27T15:12:14.738Z,1761577934.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 0.503979 s,
      deltaX: -0.200001 m,
      approachRate: -0.396843 m/s,
      rangeRepo size: 4

2025-10-27T15:12:14.741Z,1761577934.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.161480 m,
      bearing: 54.688518 deg,
      lat: 36.779315 deg,
      lon: -121.859552 deg,
      deltaT: 0.503979 s,
      deltaX: -0.199085 m,
      approachRate: -0.395027 m/s,
      posRepo size: 4

2025-10-27T15:12:14.742Z,1761577934.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.16 m.
2025-10-27T15:12:14.762Z,1761577934.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.161480 m,
      nav range: 28.759811 m,
      bearing: 58.667312 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022219 deg/s,
      cmd heading: 63.409960 deg,
      new cmd heading: 63.441461 deg.

2025-10-27T15:12:14.771Z,1761577934.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107262 target range: 30.161480 and range: 30.30 m.
2025-10-27T15:12:14.809Z,1761577934.809 [DAT](INFO): DAT read: Rx Time:15:12:13.3918 

2025-10-27T15:12:14.809Z,1761577934.809 [DAT](INFO): Rx dataTimestamp_ set to:1761577934.808872
2025-10-27T15:12:14.810Z,1761577934.810 [DAT](INFO): DAT read: Bearing 228.6, -13.6 (Local)

2025-10-27T15:12:14.811Z,1761577934.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.6, -13.6 (Local)

2025-10-27T15:12:14.813Z,1761577934.813 [DAT](INFO): DAT read: Range 11 to 50 :    29.9 m (trip time 19.9 ms) speed 0.5

2025-10-27T15:12:14.818Z,1761577934.818 [DAT](INFO): DAT read: 15:12:13.3918 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.40,-2.418, 2.303,-2.013,-2.335, PHS= 0.020,-1.600, 0.278, RAW= 157.3,  14.6, CAL= 158.0,  16.8, ROT= 352.0, -16.8

2025-10-27T15:12:14.819Z,1761577934.819 [DAT](INFO): got valid direction response:
 15:12:13.3918 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.40,-2.418, 2.303,-2.013,-2.335, PHS= 0.020,-1.600, 0.278, RAW= 157.3,  14.6, CAL= 158.0,  16.8, ROT= 352.0, -16.8

2025-10-27T15:12:14.819Z,1761577934.819 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-27T15:12:14.820Z,1761577934.820 [DAT](INFO): direction in FSK: [0.948003,-0.133233,0.289032]
2025-10-27T15:12:14.820Z,1761577934.820 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:14.824Z,1761577934.824 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.258934
2025-10-27T15:12:15.063Z,1761577935.063 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.496786
2025-10-27T15:12:15.148Z,1761577935.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458589,-0.876686,-0.145316],[0.887225,0.442440,0.130687],[-0.050278,-0.188859,0.980716]]
2025-10-27T15:12:15.224Z,1761577935.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.900000 m,
      deltaT: 0.504141 s,
      deltaX: -0.400000 m,
      approachRate: -0.793428 m/s,
      rangeRepo size: 4

2025-10-27T15:12:15.226Z,1761577935.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.763374 m,
      bearing: 58.140641 deg,
      lat: 36.779317 deg,
      lon: -121.859552 deg,
      deltaT: 0.504141 s,
      deltaX: -0.398106 m,
      approachRate: -0.789671 m/s,
      posRepo size: 4

2025-10-27T15:12:15.232Z,1761577935.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.76 m.
2025-10-27T15:12:15.234Z,1761577935.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.763374 m,
      nav range: 28.536121 m,
      bearing: 58.323334 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022219 deg/s,
      cmd heading: 63.441461 deg,
      new cmd heading: 63.474312 deg.

2025-10-27T15:12:15.244Z,1761577935.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107836 target range: 29.763374 and range: 29.90 m.
2025-10-27T15:12:15.314Z,1761577935.314 [DAT](INFO): DAT read: Rx Time:15:12:13.8917 

2025-10-27T15:12:15.315Z,1761577935.315 [DAT](INFO): Rx dataTimestamp_ set to:1761577935.314297
2025-10-27T15:12:15.317Z,1761577935.317 [DAT](INFO): DAT read: Bearing 230.2, -13.9 (Local)

2025-10-27T15:12:15.317Z,1761577935.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.2, -13.9 (Local)

2025-10-27T15:12:15.321Z,1761577935.321 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.5

2025-10-27T15:12:15.327Z,1761577935.327 [DAT](INFO): DAT read: 15:12:13.8917 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.42, 1.409,-0.146, 1.809, 1.527, PHS=-0.016,-1.628, 0.238, RAW= 157.2,  15.8, CAL= 158.1,  18.3, ROT= 351.9, -18.3

2025-10-27T15:12:15.329Z,1761577935.329 [DAT](INFO): got valid direction response:
 15:12:13.8917 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.42, 1.409,-0.146, 1.809, 1.527, PHS=-0.016,-1.628, 0.238, RAW= 157.2,  15.8, CAL= 158.1,  18.3, ROT= 351.9, -18.3

2025-10-27T15:12:15.329Z,1761577935.329 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-27T15:12:15.352Z,1761577935.352 [DAT](INFO): direction in FSK: [0.939954,-0.133775,0.313992]
2025-10-27T15:12:15.352Z,1761577935.352 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:15.371Z,1761577935.371 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.801174
2025-10-27T15:12:15.569Z,1761577935.569 [DAT](INFO): DAT read: Rx Time:15:12:14.3915 

2025-10-27T15:12:15.571Z,1761577935.571 [DAT](INFO): Rx dataTimestamp_ set to:1761577935.569678
2025-10-27T15:12:15.573Z,1761577935.573 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.007114
2025-10-27T15:12:15.726Z,1761577935.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.505425 s,
      deltaX: -0.199999 m,
      approachRate: -0.395704 m/s,
      rangeRepo size: 4

2025-10-27T15:12:15.730Z,1761577935.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.564289 m,
      bearing: 58.358170 deg,
      lat: 36.779317 deg,
      lon: -121.859552 deg,
      deltaT: 0.505425 s,
      deltaX: -0.199085 m,
      approachRate: -0.393897 m/s,
      posRepo size: 4

2025-10-27T15:12:15.751Z,1761577935.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.56 m.
2025-10-27T15:12:15.759Z,1761577935.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.564289 m,
      nav range: 28.160582 m,
      bearing: 58.145588 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022219 deg/s,
      cmd heading: 63.474314 deg,
      new cmd heading: 63.507726 deg.

2025-10-27T15:12:15.760Z,1761577935.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108419 target range: 29.564289 and range: 29.70 m.
2025-10-27T15:12:15.818Z,1761577935.818 [DAT](INFO): DAT read: Bearing 229.2, -13.8 (Local)

2025-10-27T15:12:15.819Z,1761577935.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.2, -13.8 (Local)

2025-10-27T15:12:15.822Z,1761577935.822 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed 0.5

2025-10-27T15:12:15.829Z,1761577935.829 [DAT](INFO): DAT read: 15:12:14.3915 LVL= 32752, 32753, 32242, 32755, AGC= 57, IDX= 505,-0.47,-1.845, 2.878,-1.437,-1.749, PHS= 0.006,-1.612, 0.267, RAW= 157.4,  15.0, CAL= 158.1,  17.3, ROT= 351.9, -17.3

2025-10-27T15:12:15.830Z,1761577935.830 [DAT](INFO): got valid direction response:
 15:12:14.3915 LVL= 32752, 32753, 32242, 32755, AGC= 57, IDX= 505,-0.47,-1.845, 2.878,-1.437,-1.749, PHS= 0.006,-1.612, 0.267, RAW= 157.4,  15.0, CAL= 158.1,  17.3, ROT= 351.9, -17.3

2025-10-27T15:12:15.831Z,1761577935.831 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-27T15:12:15.832Z,1761577935.832 [DAT](INFO): direction in FSK: [0.945236,-0.134527,0.297375]
2025-10-27T15:12:15.832Z,1761577935.832 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:15.844Z,1761577935.844 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.278946
2025-10-27T15:12:16.073Z,1761577936.073 [DAT](INFO): DAT read: Rx Time:15:12:14.8914 

2025-10-27T15:12:16.075Z,1761577936.075 [DAT](INFO): Rx dataTimestamp_ set to:1761577936.073673
2025-10-27T15:12:16.078Z,1761577936.078 [DAT](INFO): DAT read: Bearing 228.6, -13.5 (Local)

2025-10-27T15:12:16.079Z,1761577936.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.6, -13.5 (Local)

2025-10-27T15:12:16.081Z,1761577936.081 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.515519
2025-10-27T15:12:16.126Z,1761577936.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454227,-0.880770,-0.133872],[0.889348,0.439468,0.126204],[-0.052324,-0.176385,0.982930]]
2025-10-27T15:12:16.210Z,1761577936.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.501766 s,
      deltaX: -0.400002 m,
      approachRate: -0.797187 m/s,
      rangeRepo size: 4

2025-10-27T15:12:16.224Z,1761577936.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.166206 m,
      bearing: 58.190195 deg,
      lat: 36.779318 deg,
      lon: -121.859550 deg,
      deltaT: 0.501766 s,
      deltaX: -0.398083 m,
      approachRate: -0.793363 m/s,
      posRepo size: 4

2025-10-27T15:12:16.224Z,1761577936.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.17 m.
2025-10-27T15:12:16.235Z,1761577936.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.166206 m,
      nav range: 27.980255 m,
      bearing: 58.024083 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022219 deg/s,
      cmd heading: 63.507727 deg,
      new cmd heading: 63.539987 deg.

2025-10-27T15:12:16.236Z,1761577936.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108982 target range: 29.166206 and range: 29.30 m.
2025-10-27T15:12:16.323Z,1761577936.323 [DAT](INFO): DAT read: Range 11 to 50 :    29.1 m (trip time 19.4 ms) speed 0.5

2025-10-27T15:12:16.330Z,1761577936.330 [DAT](INFO): DAT read: 15:12:14.8914 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.49,-0544,-0.564,-0.893, PHS= 0.023,-1.606, 0.285, RAW= 157.3,  14.5, CAL= 158.0,  16.6, ROT= 352.0, -16.6

2025-10-27T15:12:16.331Z,1761577936.331 [DAT](INFO): unknown deviceResponse_: 15:12:14.8914 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.49,-0544,-0.564,-0.893, PHS= 0.023,-1.606, 0.285, RAW= 157.3,  14.5, CAL= 158.0,  16.6, ROT= 352.0, -16.6

2025-10-27T15:12:16.332Z,1761577936.332 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-10-27T15:12:16.332Z,1761577936.332 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.767191
2025-10-27T15:12:16.576Z,1761577936.576 [DAT](INFO): DAT read: Rx Time:15:12:15.3911 

2025-10-27T15:12:16.578Z,1761577936.578 [DAT](INFO): Rx dataTimestamp_ set to:1761577936.576643
2025-10-27T15:12:16.581Z,1761577936.581 [DAT](INFO): DAT read: Bearing 229.5, -14.4 (Local)

2025-10-27T15:12:16.582Z,1761577936.582 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.5, -14.4 (Local)

2025-10-27T15:12:16.584Z,1761577936.584 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.018318
2025-10-27T15:12:16.643Z,1761577936.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451522,-0.882881,-0.129028],[0.890694,0.437430,0.123767],[-0.052831,-0.170809,0.983887]]
2025-10-27T15:12:16.712Z,1761577936.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:16.715Z,1761577936.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 0.504233 s,
      deltaX: -0.199999 m,
      approachRate: -0.396640 m/s,
      rangeRepo size: 4

2025-10-27T15:12:16.716Z,1761577936.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.17 m.
2025-10-27T15:12:16.719Z,1761577936.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.166206 m,
      nav range: 27.557514 m,
      bearing: 57.866476 deg,
      approach rate: -0.837066 m/s,
      LOS rate: -0.316863 deg/s,
      cmd heading: 63.539986 deg,
      new cmd heading: 63.059924 deg.

2025-10-27T15:12:16.721Z,1761577936.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100603 target range: 29.166206 and range: 29.10 m.
2025-10-27T15:12:16.827Z,1761577936.827 [DAT](INFO): DAT read: Range 11 to 50 :    28.7 m (trip time 19.1 ms) speed 0.5

2025-10-27T15:12:16.833Z,1761577936.833 [DAT](INFO): DAT read: 15:12:15.3911 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.17, 1.561,-0.020, 1.996, 1.671, PHS=-0.008,-1.646, 0.281, RAW= 158.0,  15.1, CAL= 158.8,  17.5, ROT= 351.2, -17.5

2025-10-27T15:12:16.834Z,1761577936.834 [DAT](INFO): got valid direction response:
 15:12:15.3911 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.17, 1.561,-0.020, 1.996, 1.671, PHS=-0.008,-1.646, 0.281, RAW= 158.0,  15.1, CAL= 158.8,  17.5, ROT= 351.2, -17.5

2025-10-27T15:12:16.835Z,1761577936.835 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-27T15:12:16.836Z,1761577936.836 [DAT](INFO): direction in FSK: [0.942490,-0.145905,0.300706]
2025-10-27T15:12:16.836Z,1761577936.836 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:16.840Z,1761577936.840 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.274907
2025-10-27T15:12:17.044Z,1761577937.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448471,-0.885069,-0.124608],[0.892214,0.435008,0.121340],[-0.053189,-0.165594,0.984759]]
2025-10-27T15:12:17.079Z,1761577937.079 [DAT](INFO): DAT read: Rx Time:15:12:15.8909 

2025-10-27T15:12:17.080Z,1761577937.080 [DAT](INFO): Rx dataTimestamp_ set to:1761577937.079290
2025-10-27T15:12:17.083Z,1761577937.083 [DAT](INFO): DAT read: Bearing 230.7, -14.9 (Local)

2025-10-27T15:12:17.085Z,1761577937.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.7, -14.9 (Local)

2025-10-27T15:12:17.087Z,1761577937.087 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.520907
2025-10-27T15:12:17.130Z,1761577937.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.503578 s,
      deltaX: -0.400000 m,
      approachRate: -0.794315 m/s,
      rangeRepo size: 4

2025-10-27T15:12:17.136Z,1761577937.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.569126 m,
      bearing: 57.709768 deg,
      lat: 36.779318 deg,
      lon: -121.859549 deg,
      deltaT: 1.007811 s,
      deltaX: -0.597080 m,
      approachRate: -0.592453 m/s,
      posRepo size: 4

2025-10-27T15:12:17.137Z,1761577937.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.57 m.
2025-10-27T15:12:17.144Z,1761577937.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.569126 m,
      nav range: 27.375082 m,
      bearing: 57.779793 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.316863 deg/s,
      cmd heading: 63.059926 deg,
      new cmd heading: 62.665271 deg.

2025-10-27T15:12:17.145Z,1761577937.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093715 target range: 28.569126 and range: 28.70 m.
2025-10-27T15:12:17.330Z,1761577937.330 [DAT](INFO): DAT read: Range 11 to 50 :    28.4 m (trip time 18.9 ms) speed 0.7

2025-10-27T15:12:17.334Z,1761577937.334 [DAT](INFO): DAT read: 15:12:15.8909 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.01, 0.685,-0.870, 1.123, 0.822, PHS=-0.035,-1.647, 0.257, RAW= 158.2,  15.8, CAL= 159.1,  18.4, ROT= 350.9, -18.4

2025-10-27T15:12:17.336Z,1761577937.336 [DAT](INFO): got valid direction response:
 15:12:15.8909 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.01, 0.685,-0.870, 1.123, 0.822, PHS=-0.035,-1.647, 0.257, RAW= 158.2,  15.8, CAL= 159.1,  18.4, ROT= 350.9, -18.4

2025-10-27T15:12:17.336Z,1761577937.336 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-27T15:12:17.337Z,1761577937.337 [DAT](INFO): direction in FSK: [0.936933,-0.150073,0.315649]
2025-10-27T15:12:17.338Z,1761577937.338 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:17.341Z,1761577937.341 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.775990
2025-10-27T15:12:17.469Z,1761577937.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444980,-0.887215,-0.121831],[0.893945,0.431939,0.119546],[-0.053439,-0.162106,0.985325]]
2025-10-27T15:12:17.584Z,1761577937.584 [DAT](INFO): DAT read: Rx Time:15:12:16.3906 

2025-10-27T15:12:17.586Z,1761577937.586 [DAT](INFO): Rx dataTimestamp_ set to:1761577937.584471
2025-10-27T15:12:17.590Z,1761577937.590 [DAT](INFO): DAT read: Bearing 231.9, -13.8 (Local)

2025-10-27T15:12:17.591Z,1761577937.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.9, -13.8 (Local)

2025-10-27T15:12:17.601Z,1761577937.601 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed 0.8

2025-10-27T15:12:17.611Z,1761577937.611 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-10-27T15:12:17.612Z,1761577937.612 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.046961
2025-10-27T15:12:17.620Z,1761577937.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.760597 s,
      deltaX: -0.800001 m,
      approachRate: -1.051807 m/s,
      rangeRepo size: 4

2025-10-27T15:12:17.622Z,1761577937.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.270494 m,
      bearing: 57.738215 deg,
      lat: 36.779318 deg,
      lon: -121.859549 deg,
      deltaT: 0.503601 s,
      deltaX: -0.298632 m,
      approachRate: -0.592993 m/s,
      posRepo size: 4

2025-10-27T15:12:17.622Z,1761577937.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.27 m.
2025-10-27T15:12:17.633Z,1761577937.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.270494 m,
      nav range: 27.056082 m,
      bearing: 57.703765 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.316863 deg/s,
      cmd heading: 62.665271 deg,
      new cmd heading: 62.203831 deg.

2025-10-27T15:12:17.634Z,1761577937.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.085662 target range: 28.270494 and range: 27.90 m.
2025-10-27T15:12:17.836Z,1761577937.836 [DAT](INFO): DAT read: 15:12:16.3906 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495,-0.21,-1.533,-3.072,-1.148,-1.398, PHS=-0.034,-1.630, 0.205, RAW= 156.9,  16.6, CAL= 157.9,  19.3, ROT= 352.1, -19.3

2025-10-27T15:12:17.837Z,1761577937.837 [DAT](INFO): got valid direction response:
 15:12:16.3906 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495,-0.21,-1.533,-3.072,-1.148,-1.398, PHS=-0.034,-1.630, 0.205, RAW= 156.9,  16.6, CAL= 157.9,  19.3, ROT= 352.1, -19.3

2025-10-27T15:12:17.837Z,1761577937.837 [DAT](INFO): #Rx 13: Read direction message, but no range.
2025-10-27T15:12:17.838Z,1761577937.838 [DAT](INFO): direction in FSK: [0.934844,-0.129720,0.330514]
2025-10-27T15:12:17.842Z,1761577937.842 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.276336
2025-10-27T15:12:17.989Z,1761577937.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441599,-0.889052,-0.120738],[0.895623,0.428801,0.118274],[-0.053379,-0.160365,0.985613]]
2025-10-27T15:12:18.012Z,1761577938.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.27 m.
2025-10-27T15:12:18.015Z,1761577938.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.270494 m,
      nav range: 26.690233 m,
      bearing: 57.544999 deg,
      approach rate: -0.920466 m/s,
      LOS rate: -0.404928 deg/s,
      cmd heading: 62.203831 deg,
      new cmd heading: 61.721014 deg.

2025-10-27T15:12:18.016Z,1761577938.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077235 target range: 28.270494 and range: 27.90 m.
2025-10-27T15:12:18.090Z,1761577938.090 [DAT](INFO): DAT read: Rx Time:15:12:16.8904 

2025-10-27T15:12:18.091Z,1761577938.091 [DAT](INFO): Rx dataTimestamp_ set to:1761577938.090265
2025-10-27T15:12:18.094Z,1761577938.094 [DAT](INFO): DAT read: Bearing 231.5, -13.9 (Local)

2025-10-27T15:12:18.097Z,1761577938.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.5, -13.9 (Local)

2025-10-27T15:12:18.120Z,1761577938.120 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.6

2025-10-27T15:12:18.149Z,1761577938.149 [DAT](INFO): DAT read: 15:12:16.8904 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 509, 0.28, 1.869, 0.319, 2.265, 1.995, PHS=-0.023,-1.631, 0.226, RAW= 157.1,  16.1, CAL= 158.0,  18.7, ROT= 352.0, -18.7

2025-10-27T15:12:18.155Z,1761577938.155 [DAT](INFO): got valid direction response:
 15:12:16.8904 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 509, 0.28, 1.869, 0.319, 2.265, 1.995, PHS=-0.023,-1.631, 0.226, RAW= 157.1,  16.1, CAL= 158.0,  18.7, ROT= 352.0, -18.7

2025-10-27T15:12:18.156Z,1761577938.156 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-27T15:12:18.157Z,1761577938.157 [DAT](INFO): direction in FSK: [0.937992,-0.131826,0.320613]
2025-10-27T15:12:18.157Z,1761577938.157 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:18.165Z,1761577938.165 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.599555
2025-10-27T15:12:18.336Z,1761577938.336 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.770646
2025-10-27T15:12:18.388Z,1761577938.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437327,-0.891296,-0.119736],[0.897745,0.424850,0.116427],[-0.052901,-0.158409,0.985955]]
2025-10-27T15:12:18.418Z,1761577938.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.505794 s,
      deltaX: -0.299999 m,
      approachRate: -0.593125 m/s,
      rangeRepo size: 4

2025-10-27T15:12:18.446Z,1761577938.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.474306 m,
      bearing: 59.278548 deg,
      lat: 36.779318 deg,
      lon: -121.859548 deg,
      deltaT: 0.762790 s,
      deltaX: -0.796188 m,
      approachRate: -1.043784 m/s,
      posRepo size: 4

2025-10-27T15:12:18.453Z,1761577938.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.47 m.
2025-10-27T15:12:18.485Z,1761577938.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.474306 m,
      nav range: 26.389229 m,
      bearing: 57.523443 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.404928 deg/s,
      cmd heading: 61.721011 deg,
      new cmd heading: 61.229852 deg.

2025-10-27T15:12:18.486Z,1761577938.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068663 target range: 27.474306 and range: 27.60 m.
2025-10-27T15:12:18.593Z,1761577938.593 [DAT](INFO): DAT read: Rx Time:15:12:17.3901 

2025-10-27T15:12:18.594Z,1761577938.594 [DAT](INFO): Rx dataTimestamp_ set to:1761577938.593068
2025-10-27T15:12:18.598Z,1761577938.598 [DAT](INFO): DAT read: Bearing 231.1, -14.9 (Local)

2025-10-27T15:12:18.600Z,1761577938.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.1, -14.9 (Local)

2025-10-27T15:12:18.610Z,1761577938.610 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.9

2025-10-27T15:12:18.611Z,1761577938.611 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-10-27T15:12:18.617Z,1761577938.617 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.052035
2025-10-27T15:12:18.836Z,1761577938.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433454,-0.893050,-0.120745],[0.899654,0.421037,0.115545],[-0.052349,-0.158712,0.985936]]
2025-10-27T15:12:18.844Z,1761577938.844 [DAT](INFO): DAT read: 15:12:17.3901 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.03,-1.225,-2.762,-0.792,-1.093, PHS=-0.030,-1.624, 0.257, RAW= 158.1,  15.7, CAL= 159.1,  18.3, ROT= 350.9, -18.3

2025-10-27T15:12:18.845Z,1761577938.845 [DAT](INFO): got valid direction response:
 15:12:17.3901 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.03,-1.225,-2.762,-0.792,-1.093, PHS=-0.030,-1.624, 0.257, RAW= 158.1,  15.7, CAL= 159.1,  18.3, ROT= 350.9, -18.3

2025-10-27T15:12:18.845Z,1761577938.845 [DAT](INFO): #Rx 16: Read direction message, but no range.
2025-10-27T15:12:18.846Z,1761577938.846 [DAT](INFO): direction in FSK: [0.937476,-0.150160,0.313992]
2025-10-27T15:12:18.850Z,1761577938.850 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.284308
2025-10-27T15:12:18.952Z,1761577938.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.502803 s,
      deltaX: -0.400000 m,
      approachRate: -0.795539 m/s,
      rangeRepo size: 4

2025-10-27T15:12:18.954Z,1761577938.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.076031 m,
      bearing: 58.387315 deg,
      lat: 36.779314 deg,
      lon: -121.859545 deg,
      deltaT: 0.502803 s,
      deltaX: -0.398275 m,
      approachRate: -0.792110 m/s,
      posRepo size: 4

2025-10-27T15:12:18.956Z,1761577938.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.08 m.
2025-10-27T15:12:18.959Z,1761577938.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.076031 m,
      nav range: 25.941761 m,
      bearing: 58.364495 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.404928 deg/s,
      cmd heading: 61.229852 deg,
      new cmd heading: 60.590125 deg.

2025-10-27T15:12:18.968Z,1761577938.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057497 target range: 27.076031 and range: 27.20 m.
2025-10-27T15:12:19.096Z,1761577939.096 [DAT](INFO): DAT read: Rx Time:15:12:17.8899 

2025-10-27T15:12:19.098Z,1761577939.098 [DAT](INFO): Rx dataTimestamp_ set to:1761577939.096805
2025-10-27T15:12:19.102Z,1761577939.102 [DAT](INFO): DAT read: Bearing 232.0, -14.3 (Local)

2025-10-27T15:12:19.109Z,1761577939.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.0, -14.3 (Local)

2025-10-27T15:12:19.112Z,1761577939.112 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.8

2025-10-27T15:12:19.134Z,1761577939.134 [DAT](INFO): DAT read: 15:12:17.8899 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 504, 0.32, 2.145, 0.603, 2.548, 2.281, PHS=-0.034,-1.633, 0.223, RAW= 157.3,  16.3, CAL= 158.3,  19.0, ROT= 351.7, -19.0

2025-10-27T15:12:19.140Z,1761577939.140 [DAT](INFO): got valid direction response:
 15:12:17.8899 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 504, 0.32, 2.145, 0.603, 2.548, 2.281, PHS=-0.034,-1.633, 0.223, RAW= 157.3,  16.3, CAL= 158.3,  19.0, ROT= 351.7, -19.0

2025-10-27T15:12:19.140Z,1761577939.140 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-27T15:12:19.141Z,1761577939.141 [DAT](INFO): direction in FSK: [0.935615,-0.136491,0.325568]
2025-10-27T15:12:19.142Z,1761577939.142 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:19.149Z,1761577939.149 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.584241
2025-10-27T15:12:19.222Z,1761577939.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430392,-0.894383,-0.121831],[0.901161,0.418023,0.114742],[-0.051695,-0.159174,0.985896]]
2025-10-27T15:12:19.294Z,1761577939.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.503737 s,
      deltaX: -0.300001 m,
      approachRate: -0.595551 m/s,
      rangeRepo size: 4

2025-10-27T15:12:19.303Z,1761577939.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.777397 m,
      bearing: 59.497473 deg,
      lat: 36.779312 deg,
      lon: -121.859545 deg,
      deltaT: 0.503737 s,
      deltaX: -0.298634 m,
      approachRate: -0.592836 m/s,
      posRepo size: 4

2025-10-27T15:12:19.306Z,1761577939.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-10-27T15:12:19.329Z,1761577939.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.777397 m,
      nav range: 25.498764 m,
      bearing: 58.875694 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.404928 deg/s,
      cmd heading: 60.590123 deg,
      new cmd heading: 60.164438 deg.

2025-10-27T15:12:19.330Z,1761577939.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.050068 target range: 26.777397 and range: 26.90 m.
2025-10-27T15:12:19.344Z,1761577939.344 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.778799
2025-10-27T15:12:19.600Z,1761577939.600 [DAT](INFO): DAT read: Rx Time:15:12:18.3896 

2025-10-27T15:12:19.601Z,1761577939.601 [DAT](INFO): Rx dataTimestamp_ set to:1761577939.600543
2025-10-27T15:12:19.607Z,1761577939.607 [DAT](INFO): DAT read: Bearing 232.3, -13.9 (Local)

2025-10-27T15:12:19.608Z,1761577939.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.3, -13.9 (Local)

2025-10-27T15:12:19.627Z,1761577939.627 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.7

2025-10-27T15:12:19.640Z,1761577939.640 [DAT](INFO): DAT read: 15:12:18.3896 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 501,-0.16,-0.467,-2.001,-0.085,-0.335, PHS=-0.030,-1.621, 0.207, RAW= 156.8,  16.5, CAL= 157.8,  19.2, ROT= 352.2, -19.2

2025-10-27T15:12:19.641Z,1761577939.641 [DAT](INFO): got valid direction response:
 15:12:18.3896 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 501,-0.16,-0.467,-2.001,-0.085,-0.335, PHS=-0.030,-1.621, 0.207, RAW= 156.8,  16.5, CAL= 157.8,  19.2, ROT= 352.2, -19.2

2025-10-27T15:12:19.642Z,1761577939.642 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-27T15:12:19.643Z,1761577939.643 [DAT](INFO): direction in FSK: [0.935639,-0.128166,0.328867]
2025-10-27T15:12:19.655Z,1761577939.655 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:19.662Z,1761577939.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428359,-0.895249,-0.122631],[0.902172,0.416071,0.113891],[-0.050938,-0.159420,0.985896]]
2025-10-27T15:12:19.671Z,1761577939.671 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.093527
2025-10-27T15:12:19.803Z,1761577939.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503738 s,
      deltaX: -0.500000 m,
      approachRate: -0.992579 m/s,
      rangeRepo size: 4

2025-10-27T15:12:19.805Z,1761577939.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.279560 m,
      bearing: 60.154906 deg,
      lat: 36.779312 deg,
      lon: -121.859544 deg,
      deltaT: 0.503738 s,
      deltaX: -0.497837 m,
      approachRate: -0.988286 m/s,
      posRepo size: 4

2025-10-27T15:12:19.806Z,1761577939.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.28 m.
2025-10-27T15:12:19.813Z,1761577939.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.279560 m,
      nav range: 25.198917 m,
      bearing: 58.883131 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.404928 deg/s,
      cmd heading: 60.164438 deg,
      new cmd heading: 59.551564 deg.

2025-10-27T15:12:19.814Z,1761577939.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.039371 target range: 26.279560 and range: 26.40 m.
2025-10-27T15:12:19.848Z,1761577939.848 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.282841
2025-10-27T15:12:20.042Z,1761577940.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426814,-0.895496,-0.126163],[0.902967,0.414316,0.113987],[-0.049803,-0.162572,0.985439]]
2025-10-27T15:12:20.105Z,1761577940.105 [DAT](INFO): DAT read: Rx Time:15:12:18.8894 

2025-10-27T15:12:20.107Z,1761577940.107 [DAT](INFO): Rx dataTimestamp_ set to:1761577940.105578
2025-10-27T15:12:20.110Z,1761577940.110 [DAT](INFO): DAT read: Bearing 232.3, -14.0 (Local)

2025-10-27T15:12:20.110Z,1761577940.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.3, -14.0 (Local)

2025-10-27T15:12:20.112Z,1761577940.112 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.6

2025-10-27T15:12:20.113Z,1761577940.113 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-10-27T15:12:20.114Z,1761577940.114 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=9.548660
2025-10-27T15:12:20.126Z,1761577940.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:20.133Z,1761577940.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.505035 s,
      deltaX: -0.299999 m,
      approachRate: -0.594017 m/s,
      rangeRepo size: 4

2025-10-27T15:12:20.133Z,1761577940.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.28 m.
2025-10-27T15:12:20.145Z,1761577940.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.279560 m,
      nav range: 24.938843 m,
      bearing: 58.796496 deg,
      approach rate: -0.778447 m/s,
      LOS rate: -0.262015 deg/s,
      cmd heading: 59.551566 deg,
      new cmd heading: 59.288955 deg.

2025-10-27T15:12:20.146Z,1761577940.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.034787 target range: 26.279560 and range: 26.10 m.
2025-10-27T15:12:20.357Z,1761577940.357 [DAT](INFO): DAT read: 15:12:18.8894 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 499, 0.16, 2.462, 0.924, 2.845, 2.594, PHS=-0.031,-1.625, 0.207, RA,  16.5, CAL= 157.8,  19.2, ROT= 352.2, -19.2

2025-10-27T15:12:20.358Z,1761577940.358 [DAT](INFO): unknown deviceResponse_: 15:12:18.8894 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 499, 0.16, 2.462, 0.924, 2.845, 2.594, PHS=-0.031,-1.625, 0.207, RA,  16.5, CAL= 157.8,  19.2, ROT= 352.2, -19.2

2025-10-27T15:12:20.358Z,1761577940.358 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=9.793192
2025-10-27T15:12:20.520Z,1761577940.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427109,-0.893906,-0.136052],[0.902945,0.413733,0.116260],[-0.047636,-0.172503,0.983856]]
2025-10-27T15:12:20.608Z,1761577940.608 [DAT](INFO): DAT read: Rx Time:15:12:19.3890 

2025-10-27T15:12:20.610Z,1761577940.610 [DAT](INFO): Rx dataTimestamp_ set to:1761577940.609197
2025-10-27T15:12:20.611Z,1761577940.611 [DAT](INFO): DAT read: Bearing 232.7, -15.2 (Local)

2025-10-27T15:12:20.612Z,1761577940.612 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.7, -15.2 (Local)

2025-10-27T15:12:20.614Z,1761577940.614 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.7

2025-10-27T15:12:20.618Z,1761577940.618 [DAT](INFO): DAT read: 15:12:19.3890 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 496,-0.39, 0.086,-1.404, 0.501, 0.250, PHS=-0.062,-1.609, 0.207, RAW= 157.9,  16.9, CAL= 159.0,  19.9, ROT= 351.0, -19.9

2025-10-27T15:12:20.624Z,1761577940.624 [DAT](INFO): got valid direction response:
 15:12:19.3890 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 496,-0.39, 0.086,-1.404, 0.501, 0.250, PHS=-0.062,-1.609, 0.207, RAW= 157.9,  16.9, CAL= 159.0,  19.9, ROT= 351.0, -19.9

2025-10-27T15:12:20.624Z,1761577940.624 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-27T15:12:20.625Z,1761577940.625 [DAT](INFO): direction in FSK: [0.928712,-0.147093,0.340380]
2025-10-27T15:12:20.625Z,1761577940.625 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:20.634Z,1761577940.634 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.069080
2025-10-27T15:12:20.635Z,1761577940.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.28 m.
2025-10-27T15:12:20.638Z,1761577940.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.279560 m,
      nav range: 24.575171 m,
      bearing: 58.700511 deg,
      approach rate: -0.734794 m/s,
      LOS rate: -0.196806 deg/s,
      cmd heading: 59.288952 deg,
      new cmd heading: 58.996738 deg.

2025-10-27T15:12:20.643Z,1761577940.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.029687 target range: 26.279560 and range: 26.10 m.
2025-10-27T15:12:20.856Z,1761577940.856 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.290804
2025-10-27T15:12:20.936Z,1761577940.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.503619 s,
      deltaX: -0.600000 m,
      approachRate: -1.191378 m/s,
      rangeRepo size: 4

2025-10-27T15:12:20.938Z,1761577940.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.383812 m,
      bearing: 59.478211 deg,
      lat: 36.779310 deg,
      lon: -121.859544 deg,
      deltaT: 1.008654 s,
      deltaX: -0.895748 m,
      approachRate: -0.888063 m/s,
      posRepo size: 4

2025-10-27T15:12:20.940Z,1761577940.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.38 m.
2025-10-27T15:12:20.942Z,1761577940.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.383812 m,
      nav range: 24.200426 m,
      bearing: 59.009641 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.196806 deg/s,
      cmd heading: 58.996736 deg,
      new cmd heading: 58.814605 deg.

2025-10-27T15:12:20.952Z,1761577940.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026508 target range: 25.383812 and range: 25.50 m.
2025-10-27T15:12:21.111Z,1761577941.111 [DAT](INFO): DAT read: Rx Time:15:12:19.8888 

2025-10-27T15:12:21.111Z,1761577941.111 [DAT](INFO): Rx dataTimestamp_ set to:1761577941.111094
2025-10-27T15:12:21.113Z,1761577941.113 [DAT](INFO): DAT read: Bearing 232.0, -14.8 (Local)

2025-10-27T15:12:21.113Z,1761577941.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.0, -14.8 (Local)

2025-10-27T15:12:21.115Z,1761577941.115 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.6

2025-10-27T15:12:21.120Z,1761577941.120 [DAT](INFO): DAT read: 15:12:19.8888 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.05, 0.399,-1.113, 0.804, 0.545, PHS=-0.044,-1.613, 0.215, RAW= 157.5,  16.6, CAL= 158.5,  19.4, ROT= 351.5, -19.4

2025-10-27T15:12:21.121Z,1761577941.121 [DAT](INFO): got valid direction response:
 15:12:19.8888 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.05, 0.399,-1.113, 0.804, 0.545, PHS=-0.044,-1.613, 0.215, RAW= 157.5,  16.6, CAL= 158.5,  19.4, ROT= 351.5, -19.4

2025-10-27T15:12:21.121Z,1761577941.121 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-27T15:12:21.122Z,1761577941.122 [DAT](INFO): direction in FSK: [0.932862,-0.139417,0.332161]
2025-10-27T15:12:21.123Z,1761577941.123 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:21.127Z,1761577941.127 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=10.561257
2025-10-27T15:12:21.282Z,1761577941.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429296,-0.891639,-0.143818],[0.901970,0.415076,0.119004],[-0.046414,-0.180807,0.982423]]
2025-10-27T15:12:21.338Z,1761577941.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.501897 s,
      deltaX: -0.299999 m,
      approachRate: -0.597731 m/s,
      rangeRepo size: 4

2025-10-27T15:12:21.345Z,1761577941.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.085180 m,
      bearing: 59.905504 deg,
      lat: 36.779308 deg,
      lon: -121.859543 deg,
      deltaT: 0.501897 s,
      deltaX: -0.298632 m,
      approachRate: -0.595006 m/s,
      posRepo size: 4

2025-10-27T15:12:21.345Z,1761577941.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.09 m.
2025-10-27T15:12:21.352Z,1761577941.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.085180 m,
      nav range: 23.854511 m,
      bearing: 59.531982 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.196806 deg/s,
      cmd heading: 58.814602 deg,
      new cmd heading: 58.577243 deg.

2025-10-27T15:12:21.353Z,1761577941.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022366 target range: 25.085180 and range: 25.20 m.
2025-10-27T15:12:21.360Z,1761577941.360 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=10.794695
2025-10-27T15:12:21.613Z,1761577941.613 [DAT](INFO): DAT read: Rx Time:15:12:20.3884 

2025-10-27T15:12:21.613Z,1761577941.613 [DAT](INFO): Rx dataTimestamp_ set to:1761577941.613051
2025-10-27T15:12:21.615Z,1761577941.615 [DAT](INFO): DAT read: Bearing 230.5, -15.9 (Local)

2025-10-27T15:12:21.616Z,1761577941.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.5, -15.9 (Local)

2025-10-27T15:12:21.618Z,1761577941.618 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed 0.6

2025-10-27T15:12:21.622Z,1761577941.622 [DAT](INFO): DAT read: 15:12:20.3884 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505, 0.22, 1.732, 0.214, 2.189, 1.879, PHS=-0.045,-1.619, 0.266, RAW= 158.9,  15.8, CAL= 159.8,  18.4, ROT= 350.2, -18.4

2025-10-27T15:12:21.624Z,1761577941.624 [DAT](INFO): got valid direction response:
 15:12:20.3884 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505, 0.22, 1.732, 0.214, 2.189, 1.879, PHS=-0.045,-1.619, 0.266, RAW= 158.9,  15.8, CAL= 159.8,  18.4, ROT= 350.2, -18.4

2025-10-27T15:12:21.624Z,1761577941.624 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-27T15:12:21.625Z,1761577941.625 [DAT](INFO): direction in FSK: [0.935030,-0.161508,0.315649]
2025-10-27T15:12:21.625Z,1761577941.625 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:21.629Z,1761577941.629 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.063843
2025-10-27T15:12:21.680Z,1761577941.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432304,-0.889072,-0.150549],[0.900597,0.417343,0.121447],[-0.045145,-0.188086,0.981115]]
2025-10-27T15:12:21.840Z,1761577941.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.501957 s,
      deltaX: -0.400002 m,
      approachRate: -0.796884 m/s,
      rangeRepo size: 4

2025-10-27T15:12:21.842Z,1761577941.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.687265 m,
      bearing: 58.393957 deg,
      lat: 36.779308 deg,
      lon: -121.859543 deg,
      deltaT: 0.501957 s,
      deltaX: -0.397915 m,
      approachRate: -0.792727 m/s,
      posRepo size: 4

2025-10-27T15:12:21.843Z,1761577941.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.69 m.
2025-10-27T15:12:21.850Z,1761577941.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.687265 m,
      nav range: 23.489710 m,
      bearing: 59.480353 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.196806 deg/s,
      cmd heading: 58.577246 deg,
      new cmd heading: 58.283638 deg.

2025-10-27T15:12:21.850Z,1761577941.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017241 target range: 24.687265 and range: 24.80 m.
2025-10-27T15:12:21.864Z,1761577941.864 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.298742
2025-10-27T15:12:22.117Z,1761577942.117 [DAT](INFO): DAT read: Rx Time:15:12:20.8882 

2025-10-27T15:12:22.117Z,1761577942.117 [DAT](INFO): Rx dataTimestamp_ set to:1761577942.116755
2025-10-27T15:12:22.118Z,1761577942.118 [DAT](INFO): DAT read: Bearing 229.6, -15.5 (Local)

2025-10-27T15:12:22.119Z,1761577942.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.6, -15.5 (Local)

2025-10-27T15:12:22.121Z,1761577942.121 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed 0.5

2025-10-27T15:12:22.125Z,1761577942.125 [DAT](INFO): DAT read: 15:12:20.8882 LVL= 32752, 32753, 32322, 32755, AGC= 56, IDX= 504,-0.23, 0.745,-0.778, 1.189, 0.872, PHS=-0.025,-1.605, 0.273, RAW= 158.5,  15.4, CAL= 159.4,  17.8, ROT= 350.6, -17.8

2025-10-27T15:12:22.127Z,1761577942.127 [DAT](INFO): got valid direction response:
 15:12:20.8882 LVL= 32752, 32753, 32322, 32755, AGC= 56, IDX= 504,-0.23, 0.745,-0.778, 1.189, 0.872, PHS=-0.025,-1.605, 0.273, RAW= 158.5,  15.4, CAL= 159.4,  17.8, ROT= 350.6, -17.8

2025-10-27T15:12:22.127Z,1761577942.127 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-27T15:12:22.128Z,1761577942.128 [DAT](INFO): direction in FSK: [0.939344,-0.155507,0.305695]
2025-10-27T15:12:22.128Z,1761577942.128 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:22.137Z,1761577942.137 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.571502
2025-10-27T15:12:22.148Z,1761577942.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441808,-0.882390,-0.161846],[0.896043,0.425250,0.127550],[-0.043724,-0.201373,0.978538]]
2025-10-27T15:12:22.210Z,1761577942.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.503704 s,
      deltaX: -0.299999 m,
      approachRate: -0.595586 m/s,
      rangeRepo size: 4

2025-10-27T15:12:22.220Z,1761577942.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.388630 m,
      bearing: 58.316647 deg,
      lat: 36.779308 deg,
      lon: -121.859544 deg,
      deltaT: 0.503704 s,
      deltaX: -0.298635 m,
      approachRate: -0.592879 m/s,
      posRepo size: 4

2025-10-27T15:12:22.221Z,1761577942.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.39 m.
2025-10-27T15:12:22.228Z,1761577942.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.388630 m,
      nav range: 23.135468 m,
      bearing: 59.315886 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.196806 deg/s,
      cmd heading: 58.283637 deg,
      new cmd heading: 58.062480 deg.

2025-10-27T15:12:22.229Z,1761577942.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.013381 target range: 24.388630 and range: 24.50 m.
2025-10-27T15:12:22.368Z,1761577942.368 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.803046
2025-10-27T15:12:22.582Z,1761577942.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447655,-0.878439,-0.167181],[0.893170,0.430253,0.130881],[-0.043040,-0.207911,0.977200]]
2025-10-27T15:12:22.621Z,1761577942.621 [DAT](INFO): DAT read: Rx Time:15:12:21.3879 

2025-10-27T15:12:22.621Z,1761577942.621 [DAT](INFO): Rx dataTimestamp_ set to:1761577942.620896
2025-10-27T15:12:22.622Z,1761577942.622 [DAT](INFO): DAT read: Bearing 230.6, -15.0 (Local)

2025-10-27T15:12:22.623Z,1761577942.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.6, -15.0 (Local)

2025-10-27T15:12:22.625Z,1761577942.625 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.6

2025-10-27T15:12:22.630Z,1761577942.630 [DAT](INFO): DAT read: 15:12:21.3879 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.14, 1.313,-0.209, 1.723, 1.457, PHS=-0.042,-1.621, 0.222, RAW= 157.6,  16.4, CAL= 158.6,  19.2, ROT= 351.4, -19.2

2025-10-27T15:12:22.631Z,1761577942.631 [DAT](INFO): got valid direction response:
 15:12:21.3879 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.14, 1.313,-0.209, 1.723, 1.457, PHS=-0.042,-1.621, 0.222, RAW= 157.6,  16.4, CAL= 158.6,  19.2, ROT= 351.4, -19.2

2025-10-27T15:12:22.631Z,1761577942.631 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-27T15:12:22.632Z,1761577942.632 [DAT](INFO): direction in FSK: [0.933758,-0.141218,0.328867]
2025-10-27T15:12:22.632Z,1761577942.632 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:22.640Z,1761577942.640 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.074920
2025-10-27T15:12:22.714Z,1761577942.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.504141 s,
      deltaX: -0.500000 m,
      approachRate: -0.991786 m/s,
      rangeRepo size: 4

2025-10-27T15:12:22.726Z,1761577942.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.890902 m,
      bearing: 59.175786 deg,
      lat: 36.779308 deg,
      lon: -121.859544 deg,
      deltaT: 0.504141 s,
      deltaX: -0.497728 m,
      approachRate: -0.987280 m/s,
      posRepo size: 4

2025-10-27T15:12:22.731Z,1761577942.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.89 m.
2025-10-27T15:12:22.749Z,1761577942.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.890902 m,
      nav range: 22.768761 m,
      bearing: 59.264298 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.196806 deg/s,
      cmd heading: 58.062482 deg,
      new cmd heading: 57.764828 deg.

2025-10-27T15:12:22.751Z,1761577942.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008186 target range: 23.890902 and range: 24.00 m.
2025-10-27T15:12:22.872Z,1761577942.872 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.306860
2025-10-27T15:12:23.065Z,1761577943.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:23.088Z,1761577943.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.89 m.
2025-10-27T15:12:23.112Z,1761577943.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.890902 m,
      nav range: 22.503778 m,
      bearing: 59.291365 deg,
      approach rate: -0.720017 m/s,
      LOS rate: 0.074415 deg/s,
      cmd heading: 57.764829 deg,
      new cmd heading: 57.846988 deg.

2025-10-27T15:12:23.113Z,1761577943.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009620 target range: 23.890902 and range: 24.00 m.
2025-10-27T15:12:23.125Z,1761577943.125 [DAT](INFO): DAT read: Rx Time:15:12:21.8877 

2025-10-27T15:12:23.125Z,1761577943.125 [DAT](INFO): Rx dataTimestamp_ set to:1761577943.124942
2025-10-27T15:12:23.126Z,1761577943.126 [DAT](INFO): DAT read: Bearing 230.1, -15.6 (Local)

2025-10-27T15:12:23.127Z,1761577943.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.1, -15.6 (Local)

2025-10-27T15:12:23.129Z,1761577943.129 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.6

2025-10-27T15:12:23.133Z,1761577943.133 [DAT](INFO): DAT read: 15:12:21.8877 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 499,-0.21, 0.222,-1.280, 0.648, 0.378, PHS=-0.054,-1.613, 0.226, RAW= 158.1,  16.5, CAL= 159.2,  19.4, ROT= 350.8, -19.4

2025-10-27T15:12:23.135Z,1761577943.135 [DAT](INFO): got valid direction response:
 15:12:21.8877 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 499,-0.21, 0.222,-1.280, 0.648, 0.378, PHS=-0.054,-1.613, 0.226, RAW= 158.1,  16.5, CAL= 159.2,  19.4, ROT= 350.8, -19.4

2025-10-27T15:12:23.135Z,1761577943.135 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-27T15:12:23.136Z,1761577943.136 [DAT](INFO): direction in FSK: [0.931089,-0.150804,0.332161]
2025-10-27T15:12:23.136Z,1761577943.136 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:23.140Z,1761577943.140 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.574678
2025-10-27T15:12:23.376Z,1761577943.376 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.810996
2025-10-27T15:12:23.483Z,1761577943.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460730,-0.870213,-0.174522],[0.886510,0.441740,0.137714],[-0.042748,-0.218165,0.974975]]
2025-10-27T15:12:23.629Z,1761577943.629 [DAT](INFO): DAT read: Rx Time:15:12:22.3875 

2025-10-27T15:12:23.629Z,1761577943.629 [DAT](INFO): Rx dataTimestamp_ set to:1761577943.628802
2025-10-27T15:12:23.630Z,1761577943.630 [DAT](INFO): DAT read: Bearing 228.8, -15.2 (Local)

2025-10-27T15:12:23.631Z,1761577943.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.8, -15.2 (Local)

2025-10-27T15:12:23.633Z,1761577943.633 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.6

2025-10-27T15:12:23.638Z,1761577943.638 [DAT](INFO): DAT read: 15:12:22.3875 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495, 0.28,-0.096,-1.621, 0.326, 0.038, PHS=-0.033,-1.614, 0.244, RAW= 157.9,  15.9, CAL= 158.9,  18.6, ROT= 351.1, -18.6

2025-10-27T15:12:23.639Z,1761577943.639 [DAT](INFO): got valid direction response:
 15:12:22.3875 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495, 0.28,-0.096,-1.621, 0.326, 0.038, PHS=-0.033,-1.614, 0.244, RAW= 157.9,  15.9, CAL= 158.9,  18.6, ROT= 351.1, -18.6

2025-10-27T15:12:23.640Z,1761577943.640 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-27T15:12:23.641Z,1761577943.641 [DAT](INFO): direction in FSK: [0.936357,-0.146630,0.318959]
2025-10-27T15:12:23.641Z,1761577943.641 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:23.642Z,1761577943.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.504046 s,
      deltaX: -0.299999 m,
      approachRate: -0.595182 m/s,
      rangeRepo size: 4

2025-10-27T15:12:23.646Z,1761577943.646 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.081059
2025-10-27T15:12:23.652Z,1761577943.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.592279 m,
      bearing: 58.025341 deg,
      lat: 36.779312 deg,
      lon: -121.859545 deg,
      deltaT: 0.504046 s,
      deltaX: -0.298622 m,
      approachRate: -0.592450 m/s,
      posRepo size: 4

2025-10-27T15:12:23.653Z,1761577943.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.59 m.
2025-10-27T15:12:23.662Z,1761577943.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.592279 m,
      nav range: 22.303871 m,
      bearing: 58.427298 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.074415 deg/s,
      cmd heading: 57.846989 deg,
      new cmd heading: 57.967741 deg.

2025-10-27T15:12:23.665Z,1761577943.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011728 target range: 23.592279 and range: 23.70 m.
2025-10-27T15:12:23.880Z,1761577943.880 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.314817
2025-10-27T15:12:24.032Z,1761577944.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468023,-0.866131,-0.175419],[0.882674,0.448534,0.140368],[-0.042896,-0.220533,0.974436]]
2025-10-27T15:12:24.133Z,1761577944.133 [DAT](INFO): DAT read: Rx Time:15:12:22.8874 

2025-10-27T15:12:24.133Z,1761577944.133 [DAT](INFO): Rx dataTimestamp_ set to:1761577944.132745
2025-10-27T15:12:24.134Z,1761577944.134 [DAT](INFO): DAT read: Bearing 229.2, -14.6 (Local)

2025-10-27T15:12:24.135Z,1761577944.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.2, -14.6 (Local)

2025-10-27T15:12:24.137Z,1761577944.137 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.4

2025-10-27T15:12:24.141Z,1761577944.141 [DAT](INFO): DAT read: 15:12:22.8874 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.07,-0.392,-1.914,-0.002,-0.251, PHS=-0.040,-1.619, 0.205, RAW= 157.1,  16.7, CAL= 158.1,  19.4, ROT= 351.9, -19.4

2025-10-27T15:12:24.143Z,1761577944.143 [DAT](INFO): got valid direction response:
 15:12:22.8874 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.07,-0.392,-1.914,-0.002,-0.251, PHS=-0.040,-1.619, 0.205, RAW= 157.1,  16.7, CAL= 158.1,  19.4, ROT= 351.9, -19.4

2025-10-27T15:12:24.143Z,1761577944.143 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-27T15:12:24.144Z,1761577944.144 [DAT](INFO): direction in FSK: [0.933813,-0.132901,0.332161]
2025-10-27T15:12:24.144Z,1761577944.144 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:24.158Z,1761577944.158 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.592245
2025-10-27T15:12:24.184Z,1761577944.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 1.007803 s,
      deltaX: -0.600000 m,
      approachRate: -0.595355 m/s,
      rangeRepo size: 4

2025-10-27T15:12:24.191Z,1761577944.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.994860 m,
      bearing: 58.667498 deg,
      lat: 36.779312 deg,
      lon: -121.859545 deg,
      deltaT: 1.007803 s,
      deltaX: -0.597420 m,
      approachRate: -0.592794 m/s,
      posRepo size: 4

2025-10-27T15:12:24.192Z,1761577944.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-10-27T15:12:24.203Z,1761577944.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.994860 m,
      nav range: 21.919756 m,
      bearing: 58.466520 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.074415 deg/s,
      cmd heading: 57.967740 deg,
      new cmd heading: 58.091705 deg.

2025-10-27T15:12:24.204Z,1761577944.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.013892 target range: 22.994860 and range: 23.10 m.
2025-10-27T15:12:24.384Z,1761577944.384 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.819030
2025-10-27T15:12:24.434Z,1761577944.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475527,-0.861869,-0.176229],[0.878629,0.455432,0.143502],[-0.043419,-0.223079,0.973833]]
2025-10-27T15:12:24.484Z,1761577944.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-10-27T15:12:24.486Z,1761577944.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.994860 m,
      nav range: 21.696594 m,
      bearing: 58.514044 deg,
      approach rate: -0.729983 m/s,
      LOS rate: 0.157057 deg/s,
      cmd heading: 58.091708 deg,
      new cmd heading: 58.235749 deg.

2025-10-27T15:12:24.492Z,1761577944.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016406 target range: 22.994860 and range: 23.10 m.
2025-10-27T15:12:24.638Z,1761577944.638 [DAT](INFO): DAT read: Rx Time:15:12:23.3870 

2025-10-27T15:12:24.639Z,1761577944.639 [DAT](INFO): Rx dataTimestamp_ set to:1761577944.638266
2025-10-27T15:12:24.641Z,1761577944.641 [DAT](INFO): DAT read: Bearing 228.8, -15.2 (Local)

2025-10-27T15:12:24.641Z,1761577944.641 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.8, -15.2 (Local)

2025-10-27T15:12:24.644Z,1761577944.644 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.6

2025-10-27T15:12:24.650Z,1761577944.650 [DAT](INFO): DAT read: 15:12:23.3870 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507,-0.40,-2.451, 2.316,-2.043,-2.296, PHS=-0.053,-1.626, 0.209, RAW= 157.6,  16.8,-19.7

2025-10-27T15:12:24.652Z,1761577944.652 [DAT](INFO): unknown deviceResponse_: 15:12:23.3870 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507,-0.40,-2.451, 2.316,-2.043,-2.296, PHS=-0.053,-1.626, 0.209, RAW= 157.6,  16.8,-19.7

2025-10-27T15:12:24.653Z,1761577944.653 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-10-27T15:12:24.655Z,1761577944.655 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.089418
2025-10-27T15:12:24.888Z,1761577944.888 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.322732
2025-10-27T15:12:24.909Z,1761577944.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483222,-0.857753,-0.175375],[0.874394,0.462774,0.145864],[-0.043956,-0.223832,0.973636]]
2025-10-27T15:12:24.962Z,1761577944.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.505521 s,
      deltaX: -0.600000 m,
      approachRate: -1.186895 m/s,
      rangeRepo size: 4

2025-10-27T15:12:24.968Z,1761577944.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-10-27T15:12:24.979Z,1761577944.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.994860 m,
      nav range: 21.379753 m,
      bearing: 58.589366 deg,
      approach rate: -0.662462 m/s,
      LOS rate: 0.159818 deg/s,
      cmd heading: 58.235750 deg,
      new cmd heading: 58.465062 deg.

2025-10-27T15:12:24.980Z,1761577944.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020408 target range: 22.994860 and range: 22.50 m.
2025-10-27T15:12:25.142Z,1761577945.142 [DAT](INFO): DAT read: Rx Time:15:12:23.8868 

2025-10-27T15:12:25.143Z,1761577945.143 [DAT](INFO): Rx dataTimestamp_ set to:1761577945.142250
2025-10-27T15:12:25.145Z,1761577945.145 [DAT](INFO): DAT read: Bearing 227.1, -15.1 (Local)

2025-10-27T15:12:25.145Z,1761577945.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.1, -15.1 (Local)

2025-10-27T15:12:25.147Z,1761577945.147 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed 0.6

2025-10-27T15:12:25.153Z,1761577945.153 [DAT](INFO): DAT read: 15:12:23.8868 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 504, 0.23,-1.337,-2.883,-0.911,-1.201, PHS=-0.033,-1.637, 0.246, RAW= 157.9,  16.0, CAL= 158.8,  18.6, ROT= 351.2, -18.6

2025-10-27T15:12:25.155Z,1761577945.155 [DAT](INFO): got valid direction response:
 15:12:23.8868 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 504, 0.23,-1.337,-2.883,-0.911,-1.201, PHS=-0.033,-1.637, 0.246, RAW= 157.9,  16.0, CAL= 158.8,  18.6, ROT= 351.2, -18.6

2025-10-27T15:12:25.156Z,1761577945.156 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-27T15:12:25.158Z,1761577945.158 [DAT](INFO): direction in FSK: [0.936612,-0.144995,0.318959]
2025-10-27T15:12:25.176Z,1761577945.176 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:25.189Z,1761577945.189 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.624112
2025-10-27T15:12:25.300Z,1761577945.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490693,-0.853649,-0.174651],[0.870193,0.469861,0.148307],[-0.044540,-0.224753,0.973397]]
2025-10-27T15:12:25.332Z,1761577945.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.503984 s,
      deltaX: -0.299999 m,
      approachRate: -0.595255 m/s,
      rangeRepo size: 4

2025-10-27T15:12:25.334Z,1761577945.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.099005 m,
      bearing: 56.400716 deg,
      lat: 36.779312 deg,
      lon: -121.859545 deg,
      deltaT: 1.009505 s,
      deltaX: -0.895855 m,
      approachRate: -0.887420 m/s,
      posRepo size: 4

2025-10-27T15:12:25.335Z,1761577945.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.10 m.
2025-10-27T15:12:25.338Z,1761577945.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.099005 m,
      nav range: 21.130615 m,
      bearing: 58.550909 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.159818 deg/s,
      cmd heading: 58.465060 deg,
      new cmd heading: 58.642297 deg.

2025-10-27T15:12:25.339Z,1761577945.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023501 target range: 22.099005 and range: 22.20 m.
2025-10-27T15:12:25.394Z,1761577945.394 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.828342
2025-10-27T15:12:25.644Z,1761577945.644 [DAT](INFO): DAT read: Rx Time:15:12:24.3865 

2025-10-27T15:12:25.645Z,1761577945.645 [DAT](INFO): Rx dataTimestamp_ set to:1761577945.644642
2025-10-27T15:12:25.646Z,1761577945.646 [DAT](INFO): DAT read: Bearing 227.3, -14.7 (Local)

2025-10-27T15:12:25.646Z,1761577945.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.3, -14.7 (Local)

2025-10-27T15:12:25.649Z,1761577945.649 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.5

2025-10-27T15:12:25.656Z,1761577945.656 [DAT](INFO): DAT read: 15:12:24.3865 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 501, 0.01, 2.989, 1.440,-2.890, 3.130, PHS=-0.039,-1.645, 0.219, RAW= 157.3,  16.5, CAL= 158.3,  19.2, ROT= 351.7, -19.2

2025-10-27T15:12:25.658Z,1761577945.658 [DAT](INFO): got valid direction response:
 15:12:24.3865 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 501, 0.01, 2.989, 1.440,-2.890, 3.130, PHS=-0.039,-1.645, 0.219, RAW= 157.3,  16.5, CAL= 158.3,  19.2, ROT= 351.7, -19.2

2025-10-27T15:12:25.660Z,1761577945.660 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-27T15:12:25.661Z,1761577945.661 [DAT](INFO): direction in FSK: [0.934485,-0.136326,0.328867]
2025-10-27T15:12:25.661Z,1761577945.661 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:25.668Z,1761577945.668 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.102945
2025-10-27T15:12:25.717Z,1761577945.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504626,-0.846185,-0.171243],[0.862115,0.483347,0.152095],[-0.045931,-0.224382,0.973418]]
2025-10-27T15:12:25.737Z,1761577945.737 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050319004451,35.0, +11.1,   0.0, 0
2025-10-27T15:12:25.814Z,1761577945.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.502392 s,
      deltaX: -0.400002 m,
      approachRate: -0.796194 m/s,
      rangeRepo size: 4

2025-10-27T15:12:25.820Z,1761577945.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.700739 m,
      bearing: 56.104492 deg,
      lat: 36.779313 deg,
      lon: -121.859545 deg,
      deltaT: 0.502392 s,
      deltaX: -0.398266 m,
      approachRate: -0.792739 m/s,
      posRepo size: 4

2025-10-27T15:12:25.821Z,1761577945.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-10-27T15:12:25.828Z,1761577945.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700739 m,
      nav range: 20.901373 m,
      bearing: 58.309009 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.159818 deg/s,
      cmd heading: 58.642297 deg,
      new cmd heading: 58.873284 deg.

2025-10-27T15:12:25.829Z,1761577945.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.027533 target range: 21.700739 and range: 21.80 m.
2025-10-27T15:12:25.896Z,1761577945.896 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.330780
2025-10-27T15:12:26.123Z,1761577946.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510819,-0.842845,-0.169338],[0.858409,0.489323,0.153939],[-0.046886,-0.223997,0.973462]]
2025-10-27T15:12:26.139Z,1761577946.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:26.141Z,1761577946.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-10-27T15:12:26.144Z,1761577946.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700739 m,
      nav range: 20.658253 m,
      bearing: 58.388136 deg,
      approach rate: -0.740913 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 58.873287 deg,
      new cmd heading: 59.113459 deg.

2025-10-27T15:12:26.145Z,1761577946.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031724 target range: 21.700739 and range: 21.80 m.
2025-10-27T15:12:26.149Z,1761577946.149 [DAT](INFO): DAT read: Rx Time:15:12:24.8863 

2025-10-27T15:12:26.149Z,1761577946.149 [DAT](INFO): Rx dataTimestamp_ set to:1761577946.148861
2025-10-27T15:12:26.151Z,1761577946.151 [DAT](INFO): DAT read: Bearing 226.5, -14.7 (Local)

2025-10-27T15:12:26.152Z,1761577946.152 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.5, -14.7 (Local)

2025-10-27T15:12:26.157Z,1761577946.157 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed 0.5

2025-10-27T15:12:26.188Z,1761577946.188 [DAT](INFO): DAT read: 15:12:24.8863 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 500,-0.21,-2.324, 2.397,-1.911,-2.185, PHS=-0.037,-1.656, 0.230, RAW= 157.5,  16.3, CAL= 158.5,  19.0, ROT= 351.5, -19.0

2025-10-27T15:12:26.189Z,1761577946.189 [DAT](INFO): got valid direction response:
 15:12:24.8863 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 500,-0.21,-2.324, 2.397,-1.911,-2.185, PHS=-0.037,-1.656, 0.230, RAW= 157.5,  16.3, CAL= 158.5,  19.0, ROT= 351.5, -19.0

2025-10-27T15:12:26.189Z,1761577946.189 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-27T15:12:26.190Z,1761577946.190 [DAT](INFO): direction in FSK: [0.935133,-0.139756,0.325568]
2025-10-27T15:12:26.199Z,1761577946.199 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:26.202Z,1761577946.202 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.637169
2025-10-27T15:12:26.400Z,1761577946.400 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.834927
2025-10-27T15:12:26.627Z,1761577946.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.504219 s,
      deltaX: -0.299999 m,
      approachRate: -0.594978 m/s,
      rangeRepo size: 4

2025-10-27T15:12:26.629Z,1761577946.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.402105 m,
      bearing: 55.440383 deg,
      lat: 36.779318 deg,
      lon: -121.859550 deg,
      deltaT: 0.504219 s,
      deltaX: -0.298634 m,
      approachRate: -0.592270 m/s,
      posRepo size: 4

2025-10-27T15:12:26.630Z,1761577946.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-10-27T15:12:26.634Z,1761577946.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.402105 m,
      nav range: 20.217916 m,
      bearing: 56.597067 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 59.113457 deg,
      new cmd heading: 59.468481 deg.

2025-10-27T15:12:26.635Z,1761577946.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.037921 target range: 21.402105 and range: 21.50 m.
2025-10-27T15:12:26.655Z,1761577946.655 [DAT](INFO): DAT read: Rx Time:15:12:25.3860 

2025-10-27T15:12:26.656Z,1761577946.656 [DAT](INFO): Rx dataTimestamp_ set to:1761577946.655284
2025-10-27T15:12:26.658Z,1761577946.658 [DAT](INFO): DAT read: Bearing 222.2, -13.7 (Local)

2025-10-27T15:12:26.659Z,1761577946.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.2, -13.7 (Local)

2025-10-27T15:12:26.662Z,1761577946.662 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed 0.6

2025-10-27T15:12:26.673Z,1761577946.673 [DAT](INFO): DAT read: 15:12:25.3860 LVL= 32752, 32753, 28018, 32755, AGC= 55, IDX= 497,-0.43, 3.022, 1.417,-2.831, 3.070, PHS= 0.054,-1.608, 0.338, RAW= 157.8,  13.3, CAL= 158.3,  15.1, ROT= 351.7, -15.1

2025-10-27T15:12:26.684Z,1761577946.684 [DAT](INFO): got valid direction response:
 15:12:25.3860 LVL= 32752, 32753, 28018, 32755, AGC= 55, IDX= 497,-0.43, 3.022, 1.417,-2.831, 3.070, PHS= 0.054,-1.608, 0.338, RAW= 157.8,  13.3, CAL= 158.3,  15.1, ROT= 351.7, -15.1

2025-10-27T15:12:26.684Z,1761577946.684 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-27T15:12:26.685Z,1761577946.685 [DAT](INFO): direction in FSK: [0.955360,-0.139372,0.260505]
2025-10-27T15:12:26.685Z,1761577946.685 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:26.701Z,1761577946.701 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.135744
2025-10-27T15:12:26.908Z,1761577946.908 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.341772
2025-10-27T15:12:26.920Z,1761577946.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520251,-0.838166,-0.163758],[0.852625,0.498836,0.155541],[-0.048681,-0.220545,0.974161]]
2025-10-27T15:12:26.990Z,1761577946.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.506423 s,
      deltaX: -0.500000 m,
      approachRate: -0.987317 m/s,
      rangeRepo size: 4

2025-10-27T15:12:26.996Z,1761577946.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.904377 m,
      bearing: 53.978926 deg,
      lat: 36.779318 deg,
      lon: -121.859551 deg,
      deltaT: 0.506423 s,
      deltaX: -0.497728 m,
      approachRate: -0.982831 m/s,
      posRepo size: 4

2025-10-27T15:12:26.997Z,1761577946.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-10-27T15:12:27.004Z,1761577947.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.904377 m,
      nav range: 19.918177 m,
      bearing: 56.374349 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 59.468483 deg,
      new cmd heading: 59.733928 deg.

2025-10-27T15:12:27.005Z,1761577947.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.042554 target range: 20.904377 and range: 21.00 m.
2025-10-27T15:12:27.159Z,1761577947.159 [DAT](INFO): DAT read: Rx Time:15:12:25.8859 

2025-10-27T15:12:27.160Z,1761577947.160 [DAT](INFO): Rx dataTimestamp_ set to:1761577947.159794
2025-10-27T15:12:27.162Z,1761577947.162 [DAT](INFO): DAT read: Bearing 224.9, -11.0 (Local)

2025-10-27T15:12:27.163Z,1761577947.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.9, -11.0 (Local)

2025-10-27T15:12:27.166Z,1761577947.166 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed 0.5

2025-10-27T15:12:27.174Z,1761577947.174 [DAT](INFO): DAT read: 15:12:25.8859 LVL= 31888, 32753, 30706, 32755, AGC= 54, IDX= 512,-0.34,-2.583, 1.851,-2.266,-2.540, PHS= 0.059,-1.847, 0.231, RAW= 154.3,  15.4, CAL= 154.9,  17.6, ROT= 355.1, -17.6

2025-10-27T15:12:27.189Z,1761577947.189 [DAT](INFO): got valid direction response:
 15:12:25.8859 LVL= 31888, 32753, 30706, 32755, AGC= 54, IDX= 512,-0.34,-2.583, 1.851,-2.266,-2.540, PHS= 0.059,-1.847, 0.231, RAW= 154.3,  15.4, CAL= 154.9,  17.6, ROT= 355.1, -17.6

2025-10-27T15:12:27.189Z,1761577947.189 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-27T15:12:27.190Z,1761577947.190 [DAT](INFO): direction in FSK: [0.949707,-0.081419,0.302370]
2025-10-27T15:12:27.190Z,1761577947.190 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:27.198Z,1761577947.198 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.632824
2025-10-27T15:12:27.332Z,1761577947.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523072,-0.837244,-0.159429],[0.850829,0.502016,0.155149],[-0.049862,-0.216801,0.974942]]
2025-10-27T15:12:27.380Z,1761577947.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.504510 s,
      deltaX: -0.100000 m,
      approachRate: -0.198213 m/s,
      rangeRepo size: 4

2025-10-27T15:12:27.382Z,1761577947.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.804832 m,
      bearing: 57.595123 deg,
      lat: 36.779318 deg,
      lon: -121.859551 deg,
      deltaT: 0.504510 s,
      deltaX: -0.099545 m,
      approachRate: -0.197309 m/s,
      posRepo size: 4

2025-10-27T15:12:27.383Z,1761577947.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.80 m.
2025-10-27T15:12:27.389Z,1761577947.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.804832 m,
      nav range: 19.656038 m,
      bearing: 56.379812 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 59.733925 deg,
      new cmd heading: 60.016305 deg.

2025-10-27T15:12:27.390Z,1761577947.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.047482 target range: 20.804832 and range: 20.90 m.
2025-10-27T15:12:27.408Z,1761577947.408 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.842743
2025-10-27T15:12:27.662Z,1761577947.662 [DAT](INFO): DAT read: Rx Time:15:12:26.3856 

2025-10-27T15:12:27.663Z,1761577947.663 [DAT](INFO): Rx dataTimestamp_ set to:1761577947.662343
2025-10-27T15:12:27.665Z,1761577947.665 [DAT](INFO): DAT read: Bearing 221.8, -13.7 (Local)

2025-10-27T15:12:27.666Z,1761577947.666 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.8, -13.7 (Local)

2025-10-27T15:12:27.669Z,1761577947.669 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed 0.6

2025-10-27T15:12:27.686Z,1761577947.686 [DAT](INFO): DAT read: 15:12:26.3856 LVL= 32752, 32753, 32482, 32755, AGC= 54, IDX= 509,-0.33, 0.657,-0.969, 1.089, 0.707, PHS= 0.052,-1.632, 0.337, RAW= 157.7,  13.4, CAL= 158.2,  15.3, ROT= 351.8, -15.3

2025-10-27T15:12:27.691Z,1761577947.691 [DAT](INFO): got valid direction response:
 15:12:26.3856 LVL= 32752, 32753, 32482, 32755, AGC= 54, IDX= 509,-0.33, 0.657,-0.969, 1.089, 0.707, PHS= 0.052,-1.632, 0.337, RAW= 157.7,  13.4, CAL= 158.2,  15.3, ROT= 351.8, -15.3

2025-10-27T15:12:27.692Z,1761577947.692 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-27T15:12:27.692Z,1761577947.692 [DAT](INFO): direction in FSK: [0.954696,-0.137574,0.263873]
2025-10-27T15:12:27.693Z,1761577947.693 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:27.744Z,1761577947.744 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.178398
2025-10-27T15:12:27.756Z,1761577947.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524684,-0.837233,-0.154102],[0.849758,0.504202,0.153922],[-0.051170,-0.211710,0.975992]]
2025-10-27T15:12:27.868Z,1761577947.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.502549 s,
      deltaX: -0.500000 m,
      approachRate: -0.994928 m/s,
      rangeRepo size: 4

2025-10-27T15:12:27.870Z,1761577947.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.307165 m,
      bearing: 53.670502 deg,
      lat: 36.779322 deg,
      lon: -121.859552 deg,
      deltaT: 0.502549 s,
      deltaX: -0.497667 m,
      approachRate: -0.990286 m/s,
      posRepo size: 4

2025-10-27T15:12:27.870Z,1761577947.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-10-27T15:12:27.877Z,1761577947.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.307165 m,
      nav range: 19.446646 m,
      bearing: 55.243575 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 60.016305 deg,
      new cmd heading: 60.370475 deg.

2025-10-27T15:12:27.878Z,1761577947.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053664 target range: 20.307165 and range: 20.40 m.
2025-10-27T15:12:27.914Z,1761577947.914 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.348433
2025-10-27T15:12:28.165Z,1761577948.165 [DAT](INFO): DAT read: Rx Time:15:12:26.8855 

2025-10-27T15:12:28.166Z,1761577948.166 [DAT](INFO): Rx dataTimestamp_ set to:1761577948.165787
2025-10-27T15:12:28.168Z,1761577948.168 [DAT](INFO): DAT read: Bearing 219.9, -12.9 (Local)

2025-10-27T15:12:28.169Z,1761577948.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.9, -12.9 (Local)

2025-10-27T15:12:28.172Z,1761577948.172 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed 0.5

2025-10-27T15:12:28.180Z,1761577948.180 [DAT](INFO): DAT read: 15:12:26.8855 LVL= 30960, 32753, 30194, 32755, AGC= 53, IDX= 508,-0.35, 1.443,-0.185, 1.865, 1.444, PHS= 0.101,-1.584, 0.377, RAW= 157.5,  12.0, CAL= 157.7,  13.4, ROT= 352.3, -13.4

2025-10-27T15:12:28.181Z,1761577948.181 [DAT](INFO): got valid direction response:
 15:12:26.8855 LVL= 30960, 32753, 30194, 32755, AGC= 53, IDX= 508,-0.35, 1.443,-0.185, 1.865, 1.444, PHS= 0.101,-1.584, 0.377, RAW= 157.5,  12.0, CAL= 157.7,  13.4, ROT= 352.3, -13.4

2025-10-27T15:12:28.181Z,1761577948.181 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-27T15:12:28.182Z,1761577948.182 [DAT](INFO): direction in FSK: [0.964005,-0.130339,0.231748]
2025-10-27T15:12:28.183Z,1761577948.183 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:28.186Z,1761577948.186 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.620985
2025-10-27T15:12:28.234Z,1761577948.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524846,-0.838343,-0.147371],[0.849599,0.505345,0.151019],[-0.052133,-0.204468,0.977484]]
2025-10-27T15:12:28.298Z,1761577948.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.503444 s,
      deltaX: -0.100000 m,
      approachRate: -0.198633 m/s,
      rangeRepo size: 4

2025-10-27T15:12:28.305Z,1761577948.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.207621 m,
      bearing: 53.600238 deg,
      lat: 36.779326 deg,
      lon: -121.859551 deg,
      deltaT: 0.503444 s,
      deltaX: -0.099545 m,
      approachRate: -0.197727 m/s,
      posRepo size: 4

2025-10-27T15:12:28.305Z,1761577948.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.21 m.
2025-10-27T15:12:28.312Z,1761577948.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.207621 m,
      nav range: 19.505411 m,
      bearing: 54.129673 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 60.370478 deg,
      new cmd heading: 60.691750 deg.

2025-10-27T15:12:28.313Z,1761577948.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.059271 target range: 20.207621 and range: 20.30 m.
2025-10-27T15:12:28.417Z,1761577948.417 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.851532
2025-10-27T15:12:28.642Z,1761577948.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523627,-0.840076,-0.141730],[0.850289,0.504946,0.148454],[-0.053146,-0.198246,0.978710]]
2025-10-27T15:12:28.669Z,1761577948.669 [DAT](INFO): DAT read: Rx Time:15:12:27.3851 

2025-10-27T15:12:28.670Z,1761577948.670 [DAT](INFO): Rx dataTimestamp_ set to:1761577948.669810
2025-10-27T15:12:28.673Z,1761577948.673 [DAT](INFO): DAT read: Bearing 221.6, -13.5 (Local)

2025-10-27T15:12:28.673Z,1761577948.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.6, -13.5 (Local)

2025-10-27T15:12:28.677Z,1761577948.677 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.5

2025-10-27T15:12:28.682Z,1761577948.682 [DAT](INFO): DAT read: 15:12:27.3851 LVL= 32496, 32753, 31698, 32755, AGC= 54, IDX= 504, 0.44, 3.120, 1.492,-2.737,-3.119, PHS= 0.058,-1.627, 0.338, RAW= 157.6,  13.3, CAL= 158.0,  15.1, ROT= 352.0, -15.1

2025-10-27T15:12:28.683Z,1761577948.683 [DAT](INFO): got valid direction response:
 15:12:27.3851 LVL= 32496, 32753, 31698, 32755, AGC= 54, IDX= 504, 0.44, 3.120, 1.492,-2.737,-3.119, PHS= 0.058,-1.627, 0.338, RAW= 157.6,  13.3, CAL= 158.0,  15.1, ROT= 352.0, -15.1

2025-10-27T15:12:28.684Z,1761577948.684 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-27T15:12:28.685Z,1761577948.685 [DAT](INFO): direction in FSK: [0.956077,-0.134368,0.260505]
2025-10-27T15:12:28.685Z,1761577948.685 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:28.689Z,1761577948.689 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.123442
2025-10-27T15:12:28.794Z,1761577948.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504023 s,
      deltaX: -0.599998 m,
      approachRate: -1.190419 m/s,
      rangeRepo size: 4

2025-10-27T15:12:28.805Z,1761577948.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.610352 m,
      bearing: 53.659558 deg,
      lat: 36.779327 deg,
      lon: -121.859553 deg,
      deltaT: 0.504023 s,
      deltaX: -0.597269 m,
      approachRate: -1.185004 m/s,
      posRepo size: 4

2025-10-27T15:12:28.806Z,1761577948.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-27T15:12:28.817Z,1761577948.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.610352 m,
      nav range: 19.080959 m,
      bearing: 53.659487 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 60.691750 deg,
      new cmd heading: 61.054234 deg.

2025-10-27T15:12:28.818Z,1761577948.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065597 target range: 19.610352 and range: 19.70 m.
2025-10-27T15:12:28.921Z,1761577948.921 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.355574
2025-10-27T15:12:29.177Z,1761577949.177 [DAT](INFO): DAT read: Rx Time:15:12:27.8849 

2025-10-27T15:12:29.178Z,1761577949.178 [DAT](INFO): Rx dataTimestamp_ set to:1761577949.177117
2025-10-27T15:12:29.179Z,1761577949.179 [DAT](INFO): DAT read: Bearing 221.5, -13.8 (Local)

2025-10-27T15:12:29.179Z,1761577949.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.5, -13.8 (Local)

2025-10-27T15:12:29.181Z,1761577949.181 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.5

2025-10-27T15:12:29.186Z,1761577949.186 [DAT](INFO): DAT read: 15:12:27.8849 LVL= 31888, 32753, 30002, 32755, AGC= 54, IDX= 502, 0.26, 3.024, 1.396,-2.822, 3.068, PHS= 0.058,-1.627, 0.349, RAW= 157.8,  13.1, CAL= 158.3,  14.9, ROT= 351.7, -14.9

2025-10-27T15:12:29.187Z,1761577949.187 [DAT](INFO): got valid direction response:
 15:12:27.8849 LVL= 31888, 32753, 30002, 32755, AGC= 54, IDX= 502, 0.26, 3.024, 1.396,-2.822, 3.068, PHS= 0.058,-1.627, 0.349, RAW= 157.8,  13.1, CAL= 158.3,  14.9, ROT= 351.7, -14.9

2025-10-27T15:12:29.188Z,1761577949.188 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-27T15:12:29.189Z,1761577949.189 [DAT](INFO): direction in FSK: [0.956254,-0.139502,0.257133]
2025-10-27T15:12:29.189Z,1761577949.189 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:29.209Z,1761577949.209 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.643587
2025-10-27T15:12:29.292Z,1761577949.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.507307 s,
      deltaX: -0.300001 m,
      approachRate: -0.591360 m/s,
      rangeRepo size: 4

2025-10-27T15:12:29.294Z,1761577949.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.311777 m,
      bearing: 53.325415 deg,
      lat: 36.779327 deg,
      lon: -121.859552 deg,
      deltaT: 0.507307 s,
      deltaX: -0.298574 m,
      approachRate: -0.588548 m/s,
      posRepo size: 4

2025-10-27T15:12:29.303Z,1761577949.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-27T15:12:29.315Z,1761577949.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.311777 m,
      nav range: 18.742756 m,
      bearing: 53.564651 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 61.054235 deg,
      new cmd heading: 61.412825 deg.

2025-10-27T15:12:29.316Z,1761577949.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071856 target range: 19.311777 and range: 19.40 m.
2025-10-27T15:12:29.424Z,1761577949.424 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.858871
2025-10-27T15:12:29.678Z,1761577949.678 [DAT](INFO): DAT read: Rx Time:15:12:28.3846 

2025-10-27T15:12:29.678Z,1761577949.678 [DAT](INFO): Rx dataTimestamp_ set to:1761577949.677834
2025-10-27T15:12:29.680Z,1761577949.680 [DAT](INFO): DAT read: Bearing 216.8, -12.8 (Local)

2025-10-27T15:12:29.680Z,1761577949.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.8, -12.8 (Local)

2025-10-27T15:12:29.682Z,1761577949.682 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed 0.5

2025-10-27T15:12:29.687Z,1761577949.687 [DAT](INFO): DAT read: 15:12:28.3846 LVL= 31568, 32753, 28306, 32755, AGC= 52, IDX= 499,-0.02, 2.447, 0.840, 2.898, 2.382, PHS= 0.167,-1.497, 0.472, RAW= 158.3,   9.4, CAL= 158.1,  10.0, ROT= 351.9, -10.0

2025-10-27T15:12:29.688Z,1761577949.688 [DAT](INFO): got valid direction response:
 15:12:28.3846 LVL= 31568, 32753, 28306, 32755, AGC= 52, IDX= 499,-0.02, 2.447, 0.840, 2.898, 2.382, PHS= 0.167,-1.497, 0.472, RAW= 158.3,   9.4, CAL= 158.1,  10.0, ROT= 351.9, -10.0

2025-10-27T15:12:29.688Z,1761577949.688 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-27T15:12:29.689Z,1761577949.689 [DAT](INFO): direction in FSK: [0.974983,-0.138761,0.173648]
2025-10-27T15:12:29.690Z,1761577949.690 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:29.693Z,1761577949.693 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.128111
2025-10-27T15:12:29.703Z,1761577949.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518161,-0.845645,-0.128035],[0.853532,0.501699,0.140646],[-0.054702,-0.182159,0.981746]]
2025-10-27T15:12:29.859Z,1761577949.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.500717 s,
      deltaX: -0.500000 m,
      approachRate: -0.998568 m/s,
      rangeRepo size: 4

2025-10-27T15:12:29.869Z,1761577949.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.814121 m,
      bearing: 52.663859 deg,
      lat: 36.779328 deg,
      lon: -121.859552 deg,
      deltaT: 0.500717 s,
      deltaX: -0.497656 m,
      approachRate: -0.993887 m/s,
      posRepo size: 4

2025-10-27T15:12:29.870Z,1761577949.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.81 m.
2025-10-27T15:12:29.876Z,1761577949.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.814121 m,
      nav range: 18.328215 m,
      bearing: 53.112452 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 61.412826 deg,
      new cmd heading: 61.833676 deg.

2025-10-27T15:12:29.880Z,1761577949.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079201 target range: 18.814121 and range: 18.90 m.
2025-10-27T15:12:29.929Z,1761577949.929 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.363619
2025-10-27T15:12:30.181Z,1761577950.181 [DAT](INFO): DAT read: Rx Time:15:12:28.8845 

2025-10-27T15:12:30.181Z,1761577950.181 [DAT](INFO): Rx dataTimestamp_ set to:1761577950.180747
2025-10-27T15:12:30.182Z,1761577950.182 [DAT](INFO): DAT read: Bearing 219.3, -13.6 (Local)

2025-10-27T15:12:30.183Z,1761577950.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.3, -13.6 (Local)

2025-10-27T15:12:30.185Z,1761577950.185 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.6

2025-10-27T15:12:30.190Z,1761577950.190 [DAT](INFO): DAT read: 15:12:28.8845 LVL= 28576, 32753, 27698, 32755, AGC= 51, IDX= 498,-0.16, 1.537,-0.094, 2.001, 1.528, PHS= 0.111,-1.577, 0.429, RAW= 158.5,  11.1, CAL= 158.6,  12.3, ROT= 351.4, -12.3

2025-10-27T15:12:30.191Z,1761577950.191 [DAT](INFO): got valid direction response:
 15:12:28.8845 LVL= 28576, 32753, 27698, 32755, AGC= 51, IDX= 498,-0.16, 1.537,-0.094, 2.001, 1.528, PHS= 0.111,-1.577, 0.429, RAW= 158.5,  11.1, CAL= 158.6,  12.3, ROT= 351.4, -12.3

2025-10-27T15:12:30.192Z,1761577950.192 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-27T15:12:30.193Z,1761577950.193 [DAT](INFO): direction in FSK: [0.966060,-0.146103,0.213030]
2025-10-27T15:12:30.193Z,1761577950.193 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:30.217Z,1761577950.217 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.652048
2025-10-27T15:12:30.275Z,1761577950.275 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:12:30.295Z,1761577950.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.502913 s,
      deltaX: -0.100000 m,
      approachRate: -0.198842 m/s,
      rangeRepo size: 4

2025-10-27T15:12:30.301Z,1761577950.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.714577 m,
      bearing: 52.620404 deg,
      lat: 36.779329 deg,
      lon: -121.859551 deg,
      deltaT: 0.502913 s,
      deltaX: -0.099545 m,
      approachRate: -0.197936 m/s,
      posRepo size: 4

2025-10-27T15:12:30.302Z,1761577950.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-27T15:12:30.309Z,1761577950.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.714577 m,
      nav range: 18.173677 m,
      bearing: 52.904646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 61.833675 deg,
      new cmd heading: 62.152790 deg.

2025-10-27T15:12:30.310Z,1761577950.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.084771 target range: 18.714577 and range: 18.80 m.
2025-10-27T15:12:30.433Z,1761577950.433 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.867147
2025-10-27T15:12:30.685Z,1761577950.685 [DAT](INFO): DAT read: Rx Time:15:12:29.3841 

2025-10-27T15:12:30.685Z,1761577950.685 [DAT](INFO): Rx dataTimestamp_ set to:1761577950.684763
2025-10-27T15:12:30.686Z,1761577950.686 [DAT](INFO): DAT read: Bearing 222.2, -14.9 (Local)

2025-10-27T15:12:30.687Z,1761577950.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.2, -14.9 (Local)

2025-10-27T15:12:30.689Z,1761577950.689 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed 0.6

2025-10-27T15:12:30.693Z,1761577950.693 [DAT](INFO): DAT read: 15:12:29.3841 LVL= 32752, 32753, 29778, 32755, AGC= 52, IDX= 494, 0.26, 2.963, 1.331,-2.834, 3.027, PHS= 0.037,-1.651, 0.378, RAW= 159.0,  13.1, CAL= 159.5,  14.9, ROT= 350.5, -14.9

2025-10-27T15:12:30.695Z,1761577950.695 [DAT](INFO): got valid direction response:
 15:12:29.3841 LVL= 32752, 32753, 29778, 32755, AGC= 52, IDX= 494, 0.26, 2.963, 1.331,-2.834, 3.027, PHS= 0.037,-1.651, 0.378, RAW= 159.0,  13.1, CAL= 159.5,  14.9, ROT= 350.5, -14.9

2025-10-27T15:12:30.695Z,1761577950.695 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-27T15:12:30.696Z,1761577950.696 [DAT](INFO): direction in FSK: [0.953123,-0.159498,0.257133]
2025-10-27T15:12:30.696Z,1761577950.696 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:30.704Z,1761577950.704 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.138800
2025-10-27T15:12:30.717Z,1761577950.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503360,-0.857357,-0.107554],[0.862234,0.490256,0.127284],[-0.056399,-0.156806,0.986018]]
2025-10-27T15:12:30.840Z,1761577950.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.504016 s,
      deltaX: -0.500000 m,
      approachRate: -0.992032 m/s,
      rangeRepo size: 4

2025-10-27T15:12:30.842Z,1761577950.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.216999 m,
      bearing: 52.819961 deg,
      lat: 36.779329 deg,
      lon: -121.859551 deg,
      deltaT: 0.504016 s,
      deltaX: -0.497578 m,
      approachRate: -0.987226 m/s,
      posRepo size: 4

2025-10-27T15:12:30.842Z,1761577950.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.22 m.
2025-10-27T15:12:30.849Z,1761577950.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.216999 m,
      nav range: 17.718748 m,
      bearing: 52.741345 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.243978 deg/s,
      cmd heading: 62.152789 deg,
      new cmd heading: 62.548651 deg.

2025-10-27T15:12:30.850Z,1761577950.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091680 target range: 18.216999 and range: 18.30 m.
2025-10-27T15:12:30.937Z,1761577950.937 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.371912
2025-10-27T15:12:31.165Z,1761577951.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497535,-0.861526,-0.101150],[0.865606,0.485508,0.122512],[-0.056438,-0.148510,0.987299]]
2025-10-27T15:12:31.186Z,1761577951.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:31.189Z,1761577951.189 [DAT](INFO): DAT read: Rx Time:15:12:29.8840 

2025-10-27T15:12:31.189Z,1761577951.189 [DAT](INFO): Rx dataTimestamp_ set to:1761577951.188925
2025-10-27T15:12:31.190Z,1761577951.190 [DAT](INFO): DAT read: Bearing 223.4, -15.3 (Local)

2025-10-27T15:12:31.191Z,1761577951.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.4, -15.3 (Local)

2025-10-27T15:12:31.193Z,1761577951.193 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed 0.6

2025-10-27T15:12:31.202Z,1761577951.202 [DAT](INFO): DAT read: 15:12:29.8840 LVL= 32752, 32753, 30898, 32755, AGC= 53, IDX= 509,-0.13,-2.978, 1.693,-2.482,-2.887, PHS= 0.012,-1.658, 0.361, RAW= 159.3,  13.7, CAL= 159.9,  15.7, ROT= 350.1, -15.7

2025-10-27T15:12:31.209Z,1761577951.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.22 m.
2025-10-27T15:12:31.211Z,1761577951.211 [DAT](INFO): got valid direction response:
 15:12:29.8840 LVL= 32752, 32753, 30898, 32755, AGC= 53, IDX= 509,-0.13,-2.978, 1.693,-2.482,-2.887, PHS= 0.012,-1.658, 0.361, RAW= 159.3,  13.7, CAL= 159.9,  15.7, ROT= 350.1, -15.7

2025-10-27T15:12:31.211Z,1761577951.211 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-27T15:12:31.212Z,1761577951.212 [DAT](INFO): direction in FSK: [0.948357,-0.165515,0.270600]
2025-10-27T15:12:31.213Z,1761577951.213 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:31.220Z,1761577951.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.216999 m,
      nav range: 17.419006 m,
      bearing: 52.536297 deg,
      approach rate: -0.801382 m/s,
      LOS rate: -0.557642 deg/s,
      cmd heading: 62.548653 deg,
      new cmd heading: 61.922951 deg.

2025-10-27T15:12:31.221Z,1761577951.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.080759 target range: 18.216999 and range: 18.30 m.
2025-10-27T15:12:31.226Z,1761577951.226 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.660879
2025-10-27T15:12:31.280Z,1761577951.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:12:31.440Z,1761577951.440 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.874756
2025-10-27T15:12:31.622Z,1761577951.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491189,-0.865835,-0.095197],[0.869231,0.480160,0.117834],[-0.056315,-0.140627,0.988460]]
2025-10-27T15:12:31.693Z,1761577951.693 [DAT](INFO): DAT read: Rx Time:15:12:30.3836 

2025-10-27T15:12:31.693Z,1761577951.693 [DAT](INFO): Rx dataTimestamp_ set to:1761577951.692732
2025-10-27T15:12:31.694Z,1761577951.694 [DAT](INFO): DAT read: Bearing 223.9, -16.0 (Local)

2025-10-27T15:12:31.695Z,1761577951.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.9, -16.0 (Local)

2025-10-27T15:12:31.697Z,1761577951.697 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.6

2025-10-27T15:12:31.701Z,1761577951.701 [DAT](INFO): DAT read: 15:12:30.3836 LVL= 32752, 32753, 29938, 32755, AGC= 53, IDX= 505, 0.23,-2.099, 2.584,-1.577,-1.992, PHS=-0.005,-1.663, 0.371, RAW= 160.0,  13.7, CAL= 160.6,  15.8, ROT= 349.4, -15.8

2025-10-27T15:12:31.702Z,1761577951.702 [DAT](INFO): got valid direction response:
 15:12:30.3836 LVL= 32752, 32753, 29938, 32755, AGC= 53, IDX= 505, 0.23,-2.099, 2.584,-1.577,-1.992, PHS=-0.005,-1.663, 0.371, RAW= 160.0,  13.7, CAL= 160.6,  15.8, ROT= 349.4, -15.8

2025-10-27T15:12:31.703Z,1761577951.703 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-27T15:12:31.704Z,1761577951.704 [DAT](INFO): direction in FSK: [0.945798,-0.177001,0.272280]
2025-10-27T15:12:31.704Z,1761577951.704 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:31.714Z,1761577951.714 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.149179
2025-10-27T15:12:31.783Z,1761577951.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 1.007969 s,
      deltaX: -0.699999 m,
      approachRate: -0.694465 m/s,
      rangeRepo size: 4

2025-10-27T15:12:31.789Z,1761577951.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.520176 m,
      bearing: 52.422116 deg,
      lat: 36.779329 deg,
      lon: -121.859550 deg,
      deltaT: 1.007969 s,
      deltaX: -0.696823 m,
      approachRate: -0.691314 m/s,
      posRepo size: 4

2025-10-27T15:12:31.790Z,1761577951.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.52 m.
2025-10-27T15:12:31.797Z,1761577951.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.520176 m,
      nav range: 17.005516 m,
      bearing: 52.313906 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.557642 deg/s,
      cmd heading: 61.922953 deg,
      new cmd heading: 60.964326 deg.

2025-10-27T15:12:31.798Z,1761577951.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.064028 target range: 17.520176 and range: 17.60 m.
2025-10-27T15:12:31.944Z,1761577951.944 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.378727
2025-10-27T15:12:32.150Z,1761577952.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478191,-0.873919,-0.087173],[0.876499,0.468603,0.110279],[-0.055525,-0.129142,0.990070]]
2025-10-27T15:12:32.190Z,1761577952.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.52 m.
2025-10-27T15:12:32.194Z,1761577952.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.520176 m,
      nav range: 16.645920 m,
      bearing: 52.037428 deg,
      approach rate: -0.880125 m/s,
      LOS rate: -0.691308 deg/s,
      cmd heading: 60.964329 deg,
      new cmd heading: 60.117039 deg.

2025-10-27T15:12:32.195Z,1761577952.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.049240 target range: 17.520176 and range: 17.60 m.
2025-10-27T15:12:32.197Z,1761577952.197 [DAT](INFO): DAT read: Rx Time:15:12:30.8835 

2025-10-27T15:12:32.197Z,1761577952.197 [DAT](INFO): Rx dataTimestamp_ set to:1761577952.196842
2025-10-27T15:12:32.198Z,1761577952.198 [DAT](INFO): DAT read: Bearing 223.7, -15.9 (Local)

2025-10-27T15:12:32.199Z,1761577952.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.7, -15.9 (Local)

2025-10-27T15:12:32.201Z,1761577952.201 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.7

2025-10-27T15:12:32.206Z,1761577952.206 [DAT](INFO): DAT read: 15:12:30.8835 LVL= 32752, 32753, 27698, 32755, AGC= 52, IDX= 504,-0.19,-3.063, 1.621,-2.531,-2.966, PHS= 0.005,-1.651, 0.391, RAW= 160.2,  13.3, CAL= 160.8,  15.2, ROT= 349.2, -15.2

2025-10-27T15:12:32.207Z,1761577952.207 [DAT](INFO): got valid direction response:
 15:12:30.8835 LVL= 32752, 32753, 27698, 32755, AGC= 52, IDX= 504,-0.19,-3.063, 1.621,-2.531,-2.966, PHS= 0.005,-1.651, 0.391, RAW= 160.2,  13.3, CAL= 160.8,  15.2, ROT= 349.2, -15.2

2025-10-27T15:12:32.207Z,1761577952.207 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-27T15:12:32.208Z,1761577952.208 [DAT](INFO): direction in FSK: [0.947923,-0.180826,0.262189]
2025-10-27T15:12:32.208Z,1761577952.208 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:32.228Z,1761577952.228 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.662725
2025-10-27T15:12:32.448Z,1761577952.448 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.882706
2025-10-27T15:12:32.562Z,1761577952.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471737,-0.877657,-0.084747],[0.880026,0.462653,0.107266],[-0.054934,-0.125181,0.990612]]
2025-10-27T15:12:32.692Z,1761577952.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.504110 s,
      deltaX: -0.200001 m,
      approachRate: -0.396740 m/s,
      rangeRepo size: 4

2025-10-27T15:12:32.701Z,1761577952.701 [DAT](INFO): DAT read: Rx Time:15:12:31.3832 

2025-10-27T15:12:32.701Z,1761577952.701 [DAT](INFO): Rx dataTimestamp_ set to:1761577952.700761
2025-10-27T15:12:32.702Z,1761577952.702 [DAT](INFO): DAT read: Bearing 226.8, -16.0 (Local)

2025-10-27T15:12:32.703Z,1761577952.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.8, -16.0 (Local)

2025-10-27T15:12:32.705Z,1761577952.705 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.6

2025-10-27T15:12:32.710Z,1761577952.710 [DAT](INFO): DAT read: 15:12:31.3832 LVL= 32752, 32753, 30594, 32755, AGC= 53, IDX= 500, 0.08,-2.524, 2.198,-2.017,-2.372, PHS=-0.050,-1.668, 0.312, RAW= 159.9,  15.2, CAL= 160.7,  17.8, ROT= 349.3, -17.8

2025-10-27T15:12:32.711Z,1761577952.711 [DAT](INFO): got valid direction response:
 15:12:31.3832 LVL= 32752, 32753, 30594, 32755, AGC= 53, IDX= 500, 0.08,-2.524, 2.198,-2.017,-2.372, PHS=-0.050,-1.668, 0.312, RAW= 159.9,  15.2, CAL= 160.7,  17.8, ROT= 349.3, -17.8

2025-10-27T15:12:32.712Z,1761577952.712 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-27T15:12:32.713Z,1761577952.713 [DAT](INFO): direction in FSK: [0.935575,-0.176779,0.305695]
2025-10-27T15:12:32.713Z,1761577952.713 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:32.716Z,1761577952.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.321198 m,
      bearing: 53.146205 deg,
      lat: 36.779329 deg,
      lon: -121.859550 deg,
      deltaT: 0.504110 s,
      deltaX: -0.198978 m,
      approachRate: -0.394712 m/s,
      posRepo size: 4

2025-10-27T15:12:32.717Z,1761577952.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.32 m.
2025-10-27T15:12:32.722Z,1761577952.722 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.156269
2025-10-27T15:12:32.725Z,1761577952.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.321198 m,
      nav range: 16.321693 m,
      bearing: 51.727914 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.691308 deg/s,
      cmd heading: 60.117037 deg,
      new cmd heading: 59.092842 deg.

2025-10-27T15:12:32.726Z,1761577952.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031365 target range: 17.321198 and range: 17.40 m.
2025-10-27T15:12:32.956Z,1761577952.956 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.391058
2025-10-27T15:12:33.120Z,1761577953.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465824,-0.880970,-0.083068],[0.883201,0.457113,0.104898],[-0.054440,-0.122230,0.991008]]
2025-10-27T15:12:33.205Z,1761577953.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503919 s,
      deltaX: -0.600000 m,
      approachRate: -1.190668 m/s,
      rangeRepo size: 4

2025-10-27T15:12:33.209Z,1761577953.209 [DAT](INFO): DAT read: Rx Time:15:12:31.8830 

2025-10-27T15:12:33.209Z,1761577953.209 [DAT](INFO): Rx dataTimestamp_ set to:1761577953.208792
2025-10-27T15:12:33.210Z,1761577953.210 [DAT](INFO): DAT read: Bearing 227.1, -16.7 (Local)

2025-10-27T15:12:33.211Z,1761577953.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.1, -16.7 (Local)

2025-10-27T15:12:33.213Z,1761577953.213 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.6

2025-10-27T15:12:33.217Z,1761577953.217 [DAT](INFO): DAT read: 15:12:31.8830 LVL= 32752, 32753, 29858, 32755, AGC= 53, IDX= 498, 0.35, 0.092,-1.447, 0.630, 0.258, PHS=-0.063,-1.659, 0.329, RAW= 160.7,  15.1, CAL= 161.5,  17.8, ROT= 348.5, -17.8

2025-10-27T15:12:33.219Z,1761577953.219 [DAT](INFO): got valid direction response:
 15:12:31.8830 LVL= 32752, 32753, 29858, 32755, AGC= 53, IDX= 498, 0.35, 0.092,-1.447, 0.630, 0.258, PHS=-0.063,-1.659, 0.329, RAW= 160.7,  15.1, CAL= 161.5,  17.8, ROT= 348.5, -17.8

2025-10-27T15:12:33.219Z,1761577953.219 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-27T15:12:33.220Z,1761577953.220 [DAT](INFO): direction in FSK: [0.933015,-0.189824,0.305695]
2025-10-27T15:12:33.220Z,1761577953.220 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:33.224Z,1761577953.224 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.659163
2025-10-27T15:12:33.228Z,1761577953.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.723896 m,
      bearing: 53.940888 deg,
      lat: 36.779329 deg,
      lon: -121.859549 deg,
      deltaT: 0.503919 s,
      deltaX: -0.597301 m,
      approachRate: -1.185313 m/s,
      posRepo size: 4

2025-10-27T15:12:33.229Z,1761577953.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.72 m.
2025-10-27T15:12:33.232Z,1761577953.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.723896 m,
      nav range: 15.926787 m,
      bearing: 51.594284 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.691308 deg/s,
      cmd heading: 59.092843 deg,
      new cmd heading: 58.014379 deg.

2025-10-27T15:12:33.233Z,1761577953.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.012542 target range: 16.723896 and range: 16.80 m.
2025-10-27T15:12:33.461Z,1761577953.461 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.895500
2025-10-27T15:12:33.515Z,1761577953.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461216,-0.883299,-0.084039],[0.885645,0.452530,0.104164],[-0.053978,-0.122471,0.991003]]
2025-10-27T15:12:33.611Z,1761577953.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.508031 s,
      deltaX: -0.299999 m,
      approachRate: -0.590514 m/s,
      rangeRepo size: 4

2025-10-27T15:12:33.618Z,1761577953.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.425257 m,
      bearing: 53.458823 deg,
      lat: 36.779328 deg,
      lon: -121.859544 deg,
      deltaT: 0.508031 s,
      deltaX: -0.298639 m,
      approachRate: -0.587837 m/s,
      posRepo size: 4

2025-10-27T15:12:33.623Z,1761577953.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.43 m.
2025-10-27T15:12:33.626Z,1761577953.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.425257 m,
      nav range: 15.992840 m,
      bearing: 52.479978 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.691308 deg/s,
      cmd heading: 58.014377 deg,
      new cmd heading: 57.173293 deg.

2025-10-27T15:12:33.632Z,1761577953.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997862 target range: 16.425257 and range: 16.50 m.
2025-10-27T15:12:33.717Z,1761577953.717 [DAT](INFO): DAT read: Rx Time:15:12:32.3827 

2025-10-27T15:12:33.717Z,1761577953.717 [DAT](INFO): Rx dataTimestamp_ set to:1761577953.716755
2025-10-27T15:12:33.719Z,1761577953.719 [DAT](INFO): DAT read: Bearing 225.9, -16.5 (Local)

2025-10-27T15:12:33.720Z,1761577953.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.9, -16.5 (Local)

2025-10-27T15:12:33.723Z,1761577953.723 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.6

2025-10-27T15:12:33.734Z,1761577953.734 [DAT](INFO): DAT read: 15:12:32.3827 LVL= 32752, 32753, 28274, 32755, AGC= 54, IDX= 495,-0.25,-2.233, 2.524,-1.694,-2.099, PHS=-0.032,-1.615, 0.361, RAW= 160.8,  14.1, CAL= 161.5,  16.4, ROT= 348.5, -16.4

2025-10-27T15:12:33.740Z,1761577953.740 [DAT](INFO): got valid direction response:
 15:12:32.3827 LVL= 32752, 32753, 28274, 32755, AGC= 54, IDX= 495,-0.25,-2.233, 2.524,-1.694,-2.099, PHS=-0.032,-1.615, 0.361, RAW= 160.8,  14.1, CAL= 161.5,  16.4, ROT= 348.5, -16.4

2025-10-27T15:12:33.741Z,1761577953.741 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-27T15:12:33.742Z,1761577953.742 [DAT](INFO): direction in FSK: [0.940055,-0.191257,0.282341]
2025-10-27T15:12:33.748Z,1761577953.748 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:33.762Z,1761577953.762 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.197189
2025-10-27T15:12:33.906Z,1761577953.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457406,-0.885104,-0.085856],[0.887645,0.448632,0.103999],[-0.053532,-0.123779,0.990865]]
2025-10-27T15:12:33.964Z,1761577953.964 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.398727
2025-10-27T15:12:34.006Z,1761577954.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.507963 s,
      deltaX: -0.400000 m,
      approachRate: -0.787458 m/s,
      rangeRepo size: 4

2025-10-27T15:12:34.012Z,1761577954.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.027103 m,
      bearing: 53.531308 deg,
      lat: 36.779325 deg,
      lon: -121.859543 deg,
      deltaT: 0.507963 s,
      deltaX: -0.398153 m,
      approachRate: -0.783823 m/s,
      posRepo size: 4

2025-10-27T15:12:34.013Z,1761577954.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.03 m.
2025-10-27T15:12:34.024Z,1761577954.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.027103 m,
      nav range: 15.495451 m,
      bearing: 53.381629 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.691308 deg/s,
      cmd heading: 57.173294 deg,
      new cmd heading: 56.353775 deg.

2025-10-27T15:12:34.025Z,1761577954.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983559 target range: 16.027103 and range: 16.10 m.
2025-10-27T15:12:34.217Z,1761577954.217 [DAT](INFO): DAT read: Rx Time:15:12:32.8824 

2025-10-27T15:12:34.217Z,1761577954.217 [DAT](INFO): Rx dataTimestamp_ set to:1761577954.216925
2025-10-27T15:12:34.218Z,1761577954.218 [DAT](INFO): DAT read: Bearing 227.3, -16.3 (Local)

2025-10-27T15:12:34.219Z,1761577954.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.3, -16.3 (Local)

2025-10-27T15:12:34.221Z,1761577954.221 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.5

2025-10-27T15:12:34.226Z,1761577954.226 [DAT](INFO): DAT read: 15:12:32.8824 LVL= 32752, 32753, 29170, 32755, AGC= 54, IDX= 508, 0.06, 0.370,-1.151, 0.887, 0.523, PHS=-0.051,-1.629, 0.320, RAW= 160.3,  15.0, CAL= 161.1,  17.6, ROT= 348.9, -17.6

2025-10-27T15:12:34.227Z,1761577954.227 [DAT](INFO): got valid direction response:
 15:12:32.8824 LVL= 32752, 32753, 29170, 32755, AGC= 54, IDX= 508, 0.06, 0.370,-1.151, 0.887, 0.523, PHS=-0.051,-1.629, 0.320, RAW= 160.3,  15.0, CAL= 161.1,  17.6, ROT= 348.9, -17.6

2025-10-27T15:12:34.227Z,1761577954.227 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-27T15:12:34.228Z,1761577954.228 [DAT](INFO): direction in FSK: [0.935359,-0.183510,0.302370]
2025-10-27T15:12:34.228Z,1761577954.228 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:34.240Z,1761577954.240 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.675003
2025-10-27T15:12:34.400Z,1761577954.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455556,-0.885645,-0.090011],[0.888619,0.446375,0.105381],[-0.053151,-0.127993,0.990350]]
2025-10-27T15:12:34.432Z,1761577954.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.500170 s,
      deltaX: -0.500000 m,
      approachRate: -0.999660 m/s,
      rangeRepo size: 4

2025-10-27T15:12:34.434Z,1761577954.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.529367 m,
      bearing: 54.294223 deg,
      lat: 36.779325 deg,
      lon: -121.859543 deg,
      deltaT: 0.500170 s,
      deltaX: -0.497736 m,
      approachRate: -0.995134 m/s,
      posRepo size: 4

2025-10-27T15:12:34.434Z,1761577954.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.53 m.
2025-10-27T15:12:34.437Z,1761577954.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.529367 m,
      nav range: 15.142982 m,
      bearing: 53.258431 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.691308 deg/s,
      cmd heading: 56.353773 deg,
      new cmd heading: 55.471461 deg.

2025-10-27T15:12:34.438Z,1761577954.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968160 target range: 15.529367 and range: 15.60 m.
2025-10-27T15:12:34.469Z,1761577954.469 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.902983
2025-10-27T15:12:34.725Z,1761577954.725 [DAT](INFO): DAT read: Rx Time:15:12:33.3820 

2025-10-27T15:12:34.726Z,1761577954.726 [DAT](INFO): Rx dataTimestamp_ set to:1761577954.725062
2025-10-27T15:12:34.728Z,1761577954.728 [DAT](INFO): DAT read: Bearing 226.2, -16.6 (Local)

2025-10-27T15:12:34.728Z,1761577954.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.2, -16.6 (Local)

2025-10-27T15:12:34.731Z,1761577954.731 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.6

2025-10-27T15:12:34.738Z,1761577954.738 [DAT](INFO): DAT read: 15:12:33.3820 LVL= 32752, 32753, 30706, 32755, AGC= 54, IDX= 505,-0.46,-2.229, 2.539,-1.694,-2.091, PHS=-0.036,-1.608, 0.353, RAW= 160.8,  14.2, CAL= 161.5,  16.6, ROT= 348.5, -16.6

2025-10-27T15:12:34.744Z,1761577954.744 [DAT](INFO): got valid direction response:
 15:12:33.3820 LVL= 32752, 32753, 30706, 32755, AGC= 54, IDX= 505,-0.46,-2.229, 2.539,-1.694,-2.091, PHS=-0.036,-1.608, 0.353, RAW= 160.8,  14.2, CAL= 161.5,  16.6, ROT= 348.5, -16.6

2025-10-27T15:12:34.744Z,1761577954.744 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-27T15:12:34.746Z,1761577954.746 [DAT](INFO): direction in FSK: [0.939084,-0.191059,0.285688]
2025-10-27T15:12:34.746Z,1761577954.746 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:34.760Z,1761577954.760 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.194487
2025-10-27T15:12:34.802Z,1761577954.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455028,-0.885528,-0.093752],[0.888918,0.445481,0.106634],[-0.052663,-0.131859,0.989869]]
2025-10-27T15:12:34.950Z,1761577954.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.508137 s,
      deltaX: -0.600000 m,
      approachRate: -1.180785 m/s,
      rangeRepo size: 4

2025-10-27T15:12:34.960Z,1761577954.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.932034 m,
      bearing: 53.859723 deg,
      lat: 36.779325 deg,
      lon: -121.859543 deg,
      deltaT: 0.508137 s,
      deltaX: -0.597333 m,
      approachRate: -1.175535 m/s,
      posRepo size: 4

2025-10-27T15:12:34.961Z,1761577954.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.93 m.
2025-10-27T15:12:34.968Z,1761577954.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.932034 m,
      nav range: 14.778459 m,
      bearing: 53.197601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.691308 deg/s,
      cmd heading: 55.471460 deg,
      new cmd heading: 54.395929 deg.

2025-10-27T15:12:34.969Z,1761577954.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.949388 target range: 14.932034 and range: 15.00 m.
2025-10-27T15:12:34.972Z,1761577954.972 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.406784
2025-10-27T15:12:35.205Z,1761577955.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456288,-0.884170,-0.100220],[0.888267,0.445909,0.110216],[-0.052761,-0.139312,0.988842]]
2025-10-27T15:12:35.225Z,1761577955.225 [DAT](INFO): DAT read: Rx Time:15:12:33.8819 

2025-10-27T15:12:35.225Z,1761577955.225 [DAT](INFO): Rx dataTimestamp_ set to:1761577955.224777
2025-10-27T15:12:35.226Z,1761577955.226 [DAT](INFO): DAT read: Bearing 225.9, -16.5 (Local)

2025-10-27T15:12:35.227Z,1761577955.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.9, -16.5 (Local)

2025-10-27T15:12:35.229Z,1761577955.229 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.7

2025-10-27T15:12:35.233Z,1761577955.233 [DAT](INFO): DAT read: 15:12:33.8819 LVL= 32752, 32753, 28530, 32755, AGC= 53, IDX= 503,-0.05,-0.881,-2.379,-0.360,-0.749, PHS=-0.029,-1.585, 0.345, RAW= 160.5,  14.2, CAL= 161.2,  16.5, ROT= 348.8, -16.5

2025-10-27T15:12:35.235Z,1761577955.235 [DAT](INFO): got valid direction response:
 15:12:33.8819 LVL= 32752, 32753, 28530, 32755, AGC= 53, IDX= 503,-0.05,-0.881,-2.379,-0.360,-0.749, PHS=-0.029,-1.585, 0.345, RAW= 160.5,  14.2, CAL= 161.2,  16.5, ROT= 348.8, -16.5

2025-10-27T15:12:35.235Z,1761577955.235 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-27T15:12:35.236Z,1761577955.236 [DAT](INFO): direction in FSK: [0.940559,-0.186236,0.284015]
2025-10-27T15:12:35.236Z,1761577955.236 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:35.240Z,1761577955.240 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.674931
2025-10-27T15:12:35.324Z,1761577955.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.499715 s,
      deltaX: -0.100000 m,
      approachRate: -0.200115 m/s,
      rangeRepo size: 4

2025-10-27T15:12:35.326Z,1761577955.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.832488 m,
      bearing: 54.193973 deg,
      lat: 36.779322 deg,
      lon: -121.859543 deg,
      deltaT: 0.499715 s,
      deltaX: -0.099546 m,
      approachRate: -0.199206 m/s,
      posRepo size: 4

2025-10-27T15:12:35.331Z,1761577955.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.83 m.
2025-10-27T15:12:35.334Z,1761577955.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.832488 m,
      nav range: 14.339535 m,
      bearing: 54.061142 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.691308 deg/s,
      cmd heading: 54.395930 deg,
      new cmd heading: 53.619368 deg.

2025-10-27T15:12:35.340Z,1761577955.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.935835 target range: 14.832488 and range: 14.90 m.
2025-10-27T15:12:35.476Z,1761577955.476 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.910784
2025-10-27T15:12:35.649Z,1761577955.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459391,-0.881375,-0.110175],[0.886672,0.447689,0.115705],[-0.052655,-0.150843,0.987154]]
2025-10-27T15:12:35.729Z,1761577955.729 [DAT](INFO): DAT read: Rx Time:15:12:34.3815 

2025-10-27T15:12:35.730Z,1761577955.730 [DAT](INFO): Rx dataTimestamp_ set to:1761577955.729658
2025-10-27T15:12:35.732Z,1761577955.732 [DAT](INFO): DAT read: Bearing 226.1, -16.6 (Local)

2025-10-27T15:12:35.732Z,1761577955.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.1, -16.6 (Local)

2025-10-27T15:12:35.736Z,1761577955.736 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.6

2025-10-27T15:12:35.742Z,1761577955.742 [DAT](INFO): DAT read: 15:12:34.3815 LVL= 32752, 32753, 26210, 32755, AGC= 52, IDX= 499, 0.39,-1.068,-2.570,-0.553,-0.926, PHS=-0.040,-1.599, 0.329, RAW= 160.4,  14.7, CAL= 161.1,  17.1, ROT= 348.9, -17.1

2025-10-27T15:12:35.744Z,1761577955.744 [DAT](INFO): got valid direction response:
 15:12:34.3815 LVL= 32752, 32753, 26210, 32755, AGC= 52, IDX= 499, 0.39,-1.068,-2.570,-0.553,-0.926, PHS=-0.040,-1.599, 0.329, RAW= 160.4,  14.7, CAL= 161.1,  17.1, ROT= 348.9, -17.1

2025-10-27T15:12:35.744Z,1761577955.744 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-27T15:12:35.746Z,1761577955.746 [DAT](INFO): direction in FSK: [0.937913,-0.184011,0.294040]
2025-10-27T15:12:35.746Z,1761577955.746 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:35.758Z,1761577955.758 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.193125
2025-10-27T15:12:35.791Z,1761577955.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.504881 s,
      deltaX: -0.599999 m,
      approachRate: -1.188398 m/s,
      rangeRepo size: 4

2025-10-27T15:12:35.794Z,1761577955.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.235207 m,
      bearing: 54.405110 deg,
      lat: 36.779322 deg,
      lon: -121.859543 deg,
      deltaT: 0.504881 s,
      deltaX: -0.597281 m,
      approachRate: -1.183014 m/s,
      posRepo size: 4

2025-10-27T15:12:35.794Z,1761577955.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.24 m.
2025-10-27T15:12:35.812Z,1761577955.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.235207 m,
      nav range: 13.969821 m,
      bearing: 54.022400 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.691308 deg/s,
      cmd heading: 53.619369 deg,
      new cmd heading: 52.659769 deg.

2025-10-27T15:12:35.819Z,1761577955.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.919086 target range: 14.235207 and range: 14.30 m.
2025-10-27T15:12:35.984Z,1761577955.984 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.418991
2025-10-27T15:12:36.197Z,1761577956.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:36.204Z,1761577956.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.24 m.
2025-10-27T15:12:36.206Z,1761577956.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.235207 m,
      nav range: 13.672279 m,
      bearing: 53.930665 deg,
      approach rate: -0.713389 m/s,
      LOS rate: -0.224730 deg/s,
      cmd heading: 52.659768 deg,
      new cmd heading: 52.378577 deg.

2025-10-27T15:12:36.212Z,1761577956.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914179 target range: 14.235207 and range: 14.30 m.
2025-10-27T15:12:36.237Z,1761577956.237 [DAT](INFO): DAT read: Rx Time:15:12:34.8814 

2025-10-27T15:12:36.237Z,1761577956.237 [DAT](INFO): Rx dataTimestamp_ set to:1761577956.236775
2025-10-27T15:12:36.238Z,1761577956.238 [DAT](INFO): DAT read: Bearing 225.0, -17.5 (Local)

2025-10-27T15:12:36.239Z,1761577956.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.0, -17.5 (Local)

2025-10-27T15:12:36.241Z,1761577956.241 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.6

2025-10-27T15:12:36.245Z,1761577956.245 [DAT](INFO): DAT read: 15:12:34.8814 LVL= 32752, 32753, 29490, 32755, AGC= 52, IDX= 498,-0.03,-1.438,-2.920,-0.895,-1.290, PHS=-0.046,-1.585, 0.352, RAW= 161.2,  14.3, CAL= 161.9,  16.7, ROT= 348.1, -16.7

2025-10-27T15:12:36.246Z,1761577956.246 [DAT](INFO): got valid direction response:
 15:12:34.8814 LVL= 32752, 32753, 29490, 32755, AGC= 52, IDX= 498,-0.03,-1.438,-2.920,-0.895,-1.290, PHS=-0.046,-1.585, 0.352, RAW= 161.2,  14.3, CAL= 161.9,  16.7, ROT= 348.1, -16.7

2025-10-27T15:12:36.247Z,1761577956.247 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-27T15:12:36.248Z,1761577956.248 [DAT](INFO): direction in FSK: [0.937238,-0.197507,0.287361]
2025-10-27T15:12:36.248Z,1761577956.248 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:36.260Z,1761577956.260 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.694708
2025-10-27T15:12:36.446Z,1761577956.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471103,-0.871591,-0.135613],[0.880580,0.455755,0.129868],[-0.051385,-0.180600,0.982213]]
2025-10-27T15:12:36.480Z,1761577956.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.507117 s,
      deltaX: -0.200000 m,
      approachRate: -0.394386 m/s,
      rangeRepo size: 4

2025-10-27T15:12:36.482Z,1761577956.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.036127 m,
      bearing: 53.356325 deg,
      lat: 36.779322 deg,
      lon: -121.859544 deg,
      deltaT: 0.507117 s,
      deltaX: -0.199080 m,
      approachRate: -0.392571 m/s,
      posRepo size: 4

2025-10-27T15:12:36.482Z,1761577956.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m.
2025-10-27T15:12:36.488Z,1761577956.488 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.922676
2025-10-27T15:12:36.497Z,1761577956.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.036127 m,
      nav range: 13.442771 m,
      bearing: 53.776655 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.224730 deg/s,
      cmd heading: 52.378576 deg,
      new cmd heading: 52.193004 deg.

2025-10-27T15:12:36.498Z,1761577956.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910940 target range: 14.036127 and range: 14.10 m.
2025-10-27T15:12:36.745Z,1761577956.745 [DAT](INFO): DAT read: Rx Time:15:12:35.3811 

2025-10-27T15:12:36.746Z,1761577956.746 [DAT](INFO): Rx dataTimestamp_ set to:1761577956.745281
2025-10-27T15:12:36.751Z,1761577956.751 [DAT](INFO): DAT read: Bearing 225.4, -15.1 (Local)

2025-10-27T15:12:36.752Z,1761577956.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.4, -15.1 (Local)

2025-10-27T15:12:36.757Z,1761577956.757 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.7

2025-10-27T15:12:36.762Z,1761577956.762 [DAT](INFO): DAT read: 15:12:35.3811 LVL= 32752, 32753, 30418, 32755, AGC= 50, IDX= 495,-0.42, 2.660, 1.169, 3.091, 2.773, PHS=-0.011,-1.560, 0.273, RAW= 158.3,  15.0, CAL= 159.1,  17.4, ROT= 350.9, -17.4

2025-10-27T15:12:36.763Z,1761577956.763 [DAT](INFO): got valid direction response:
 15:12:35.3811 LVL= 32752, 32753, 30418, 32755, AGC= 50, IDX= 495,-0.42, 2.660, 1.169, 3.091, 2.773, PHS=-0.011,-1.560, 0.273, RAW= 158.3,  15.0, CAL= 159.1,  17.4, ROT= 350.9, -17.4

2025-10-27T15:12:36.764Z,1761577956.764 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-27T15:12:36.765Z,1761577956.765 [DAT](INFO): direction in FSK: [0.942230,-0.150921,0.299041]
2025-10-27T15:12:36.765Z,1761577956.765 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:36.797Z,1761577956.797 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.231453
2025-10-27T15:12:36.854Z,1761577956.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479171,-0.864970,-0.149071],[0.876252,0.461594,0.138255],[-0.050776,-0.196871,0.979114]]
2025-10-27T15:12:36.952Z,1761577956.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.508506 s,
      deltaX: -0.400001 m,
      approachRate: -0.786619 m/s,
      rangeRepo size: 4

2025-10-27T15:12:36.954Z,1761577956.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.638007 m,
      bearing: 56.016768 deg,
      lat: 36.779322 deg,
      lon: -121.859544 deg,
      deltaT: 0.508506 s,
      deltaX: -0.398120 m,
      approachRate: -0.782921 m/s,
      posRepo size: 4

2025-10-27T15:12:36.959Z,1761577956.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.64 m.
2025-10-27T15:12:36.962Z,1761577956.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.638007 m,
      nav range: 13.131293 m,
      bearing: 53.790640 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.224730 deg/s,
      cmd heading: 52.193003 deg,
      new cmd heading: 51.874142 deg.

2025-10-27T15:12:36.968Z,1761577956.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.905375 target range: 13.638007 and range: 13.70 m.
2025-10-27T15:12:36.992Z,1761577956.992 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.426876
2025-10-27T15:12:37.245Z,1761577957.245 [DAT](INFO): DAT read: Rx Time:15:12:35.8809 

2025-10-27T15:12:37.245Z,1761577957.245 [DAT](INFO): Rx dataTimestamp_ set to:1761577957.244744
2025-10-27T15:12:37.246Z,1761577957.246 [DAT](INFO): DAT read: Bearing 224.0, -16.3 (Local)

2025-10-27T15:12:37.247Z,1761577957.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.0, -16.3 (Local)

2025-10-27T15:12:37.249Z,1761577957.249 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.6

2025-10-27T15:12:37.253Z,1761577957.253 [DAT](INFO): DAT read: 15:12:35.8809 LVL= 32752, 32753, 28402, 32755, AGC= 49, IDX= 509, 0.18,-1.660, 3.122,-1.185,-1.532, PHS=-0.026,-1.584, 0.303, RAW= 159.4,  14.8, CAL= 160.2,  17.2, ROT= 349.8, -17.2

2025-10-27T15:12:37.254Z,1761577957.254 [DAT](INFO): got valid direction response:
 15:12:35.8809 LVL= 32752, 32753, 28402, 32755, AGC= 49, IDX= 509, 0.18,-1.660, 3.122,-1.185,-1.532, PHS=-0.026,-1.584, 0.303, RAW= 159.4,  14.8, CAL= 160.2,  17.2, ROT= 349.8, -17.2

2025-10-27T15:12:37.255Z,1761577957.255 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-27T15:12:37.256Z,1761577957.256 [DAT](INFO): direction in FSK: [0.940181,-0.169165,0.295708]
2025-10-27T15:12:37.256Z,1761577957.256 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:37.276Z,1761577957.276 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.710758
2025-10-27T15:12:37.333Z,1761577957.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498592,-0.850142,-0.169306],[0.865458,0.477200,0.152522],[-0.048873,-0.222573,0.973690]]
2025-10-27T15:12:37.381Z,1761577957.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.499463 s,
      deltaX: -0.300000 m,
      approachRate: -0.600645 m/s,
      rangeRepo size: 4

2025-10-27T15:12:37.388Z,1761577957.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.339365 m,
      bearing: 54.134225 deg,
      lat: 36.779321 deg,
      lon: -121.859544 deg,
      deltaT: 0.499463 s,
      deltaX: -0.298642 m,
      approachRate: -0.597926 m/s,
      posRepo size: 4

2025-10-27T15:12:37.388Z,1761577957.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-27T15:12:37.395Z,1761577957.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.339365 m,
      nav range: 12.807223 m,
      bearing: 54.134178 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.224730 deg/s,
      cmd heading: 51.874143 deg,
      new cmd heading: 51.584968 deg.

2025-10-27T15:12:37.396Z,1761577957.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.900328 target range: 13.339365 and range: 13.40 m.
2025-10-27T15:12:37.497Z,1761577957.497 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.932034
2025-10-27T15:12:37.753Z,1761577957.753 [DAT](INFO): DAT read: Rx Time:15:12:36.3806 

2025-10-27T15:12:37.756Z,1761577957.756 [DAT](INFO): Rx dataTimestamp_ set to:1761577957.753964
2025-10-27T15:12:37.757Z,1761577957.757 [DAT](INFO): DAT read: Bearing 223.5, -15.4 (Local)

2025-10-27T15:12:37.757Z,1761577957.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.5, -15.4 (Local)

2025-10-27T15:12:37.759Z,1761577957.759 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.6

2025-10-27T15:12:37.765Z,1761577957.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509300,-0.842158,-0.177154],[0.859262,0.486197,0.159004],[-0.047774,-0.233202,0.971254]]
2025-10-27T15:12:37.784Z,1761577957.784 [DAT](INFO): DAT read: 15:12:36.3806 LVL= 32752, 32753, 31026, 32755, AGC= 49, IDX= 506,-0.09, 1.585, 0.078, 2.016, 1.704, PHS=-0.017,-1.581, 0.268, RAW= 158.2,  15.3, CAL= 159.1,  17.7, ROT= 350.9, -17.7

2025-10-27T15:12:37.785Z,1761577957.785 [DAT](INFO): got valid direction response:
 15:12:36.3806 LVL= 32752, 32753, 31026, 32755, AGC= 49, IDX= 506,-0.09, 1.585, 0.078, 2.016, 1.704, PHS=-0.017,-1.581, 0.268, RAW= 158.2,  15.3, CAL= 159.1,  17.7, ROT= 350.9, -17.7

2025-10-27T15:12:37.786Z,1761577957.786 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-27T15:12:37.787Z,1761577957.787 [DAT](INFO): direction in FSK: [0.940671,-0.150671,0.304033]
2025-10-27T15:12:37.795Z,1761577957.795 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:37.807Z,1761577957.807 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.233473
2025-10-27T15:12:37.903Z,1761577957.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.509220 s,
      deltaX: -0.500000 m,
      approachRate: -0.981894 m/s,
      rangeRepo size: 4

2025-10-27T15:12:37.905Z,1761577957.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.841731 m,
      bearing: 54.824117 deg,
      lat: 36.779320 deg,
      lon: -121.859544 deg,
      deltaT: 0.509220 s,
      deltaX: -0.497634 m,
      approachRate: -0.977247 m/s,
      posRepo size: 4

2025-10-27T15:12:37.906Z,1761577957.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m.
2025-10-27T15:12:37.913Z,1761577957.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.841731 m,
      nav range: 12.375855 m,
      bearing: 54.635827 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.224730 deg/s,
      cmd heading: 51.584966 deg,
      new cmd heading: 51.238663 deg.

2025-10-27T15:12:37.914Z,1761577957.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.894283 target range: 12.841731 and range: 12.90 m.
2025-10-27T15:12:38.000Z,1761577958.000 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.434895
2025-10-27T15:12:38.169Z,1761577958.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520641,-0.833598,-0.184521],[0.852492,0.495725,0.165870],[-0.046797,-0.243662,0.968731]]
2025-10-27T15:12:38.198Z,1761577958.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:38.207Z,1761577958.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m.
2025-10-27T15:12:38.210Z,1761577958.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.841731 m,
      nav range: 12.169312 m,
      bearing: 54.676245 deg,
      approach rate: -0.665736 m/s,
      LOS rate: 0.132488 deg/s,
      cmd heading: 51.238662 deg,
      new cmd heading: 51.361974 deg.

2025-10-27T15:12:38.211Z,1761577958.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896436 target range: 12.841731 and range: 12.90 m.
2025-10-27T15:12:38.254Z,1761577958.254 [DAT](INFO): DAT read: Rx Time:15:12:36.8804 

2025-10-27T15:12:38.256Z,1761577958.256 [DAT](INFO): Rx dataTimestamp_ set to:1761577958.254042
2025-10-27T15:12:38.258Z,1761577958.258 [DAT](INFO): DAT read: Bearing 221.8, -16.2 (Local)

2025-10-27T15:12:38.258Z,1761577958.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.8, -16.2 (Local)

2025-10-27T15:12:38.261Z,1761577958.261 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.6

2025-10-27T15:12:38.268Z,1761577958.268 [DAT](INFO): DAT read: 15:12:36.8804 LVL= 32752, 32753, 29842, 32755, AGC= 49, IDX= 504,-0.26, 0.541,-0.986, 1.013, 0.667, PHS=-0.024,-1.608, 0.302, RAW= 159.2,  14.9, CAL= 160.0,  17.3, ROT= 350.0, -17.3

2025-10-27T15:12:38.269Z,1761577958.269 [DAT](INFO): got valid direction response:
 15:12:36.8804 LVL= 32752, 32753, 29842, 32755, AGC= 49, IDX= 504,-0.26, 0.541,-0.986, 1.013, 0.667, PHS=-0.024,-1.608, 0.302, RAW= 159.2,  14.9, CAL= 160.0,  17.3, ROT= 350.0, -17.3

2025-10-27T15:12:38.270Z,1761577958.270 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-27T15:12:38.273Z,1761577958.273 [DAT](INFO): direction in FSK: [0.940256,-0.165792,0.297375]
2025-10-27T15:12:38.274Z,1761577958.274 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:38.282Z,1761577958.282 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.716782
2025-10-27T15:12:38.504Z,1761577958.504 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.938635
2025-10-27T15:12:38.534Z,1761577958.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531960,-0.825244,-0.189714],[0.845543,0.505630,0.171451],[-0.045564,-0.251616,0.966754]]
2025-10-27T15:12:38.626Z,1761577958.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.500078 s,
      deltaX: -0.299999 m,
      approachRate: -0.599905 m/s,
      rangeRepo size: 4

2025-10-27T15:12:38.632Z,1761577958.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.543087 m,
      bearing: 52.702199 deg,
      lat: 36.779321 deg,
      lon: -121.859544 deg,
      deltaT: 0.500078 s,
      deltaX: -0.298644 m,
      approachRate: -0.597195 m/s,
      posRepo size: 4

2025-10-27T15:12:38.633Z,1761577958.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-27T15:12:38.638Z,1761577958.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.543087 m,
      nav range: 11.975369 m,
      bearing: 54.212789 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.132488 deg/s,
      cmd heading: 51.361974 deg,
      new cmd heading: 51.528019 deg.

2025-10-27T15:12:38.640Z,1761577958.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899334 target range: 12.543087 and range: 12.60 m.
2025-10-27T15:12:38.761Z,1761577958.761 [DAT](INFO): DAT read: Rx Time:15:12:37.3800 

2025-10-27T15:12:38.763Z,1761577958.763 [DAT](INFO): Rx dataTimestamp_ set to:1761577958.761804
2025-10-27T15:12:38.782Z,1761577958.782 [DAT](INFO): DAT read: Bearing 220.9, -16.8 (Local)

2025-10-27T15:12:38.788Z,1761577958.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.9, -16.8 (Local)

2025-10-27T15:12:38.790Z,1761577958.790 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.5

2025-10-27T15:12:38.815Z,1761577958.815 [DAT](INFO): DAT read: 15:12:37.3800 LVL= 32752, 32753, 28322, 32755, AGC= 52, IDX= 500, 0.38, 1.263,-0.279, 1.760, 1.404, PHS=-0.040,-1.638, 0.312, RAW= 159.7,  15.0, CAL= 160.6,  17.5, ROT= 349.4, -17.5

2025-10-27T15:12:38.816Z,1761577958.816 [DAT](INFO): got valid direction response:
 15:12:37.3800 LVL= 32752, 32753, 28322, 32755, AGC= 52, IDX= 500, 0.38, 1.263,-0.279, 1.760, 1.404, PHS=-0.040,-1.638, 0.312, RAW= 159.7,  15.0, CAL= 160.6,  17.5, ROT= 349.4, -17.5

2025-10-27T15:12:38.817Z,1761577958.817 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-27T15:12:38.818Z,1761577958.818 [DAT](INFO): direction in FSK: [0.937442,-0.175438,0.300706]
2025-10-27T15:12:38.818Z,1761577958.818 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:38.822Z,1761577958.822 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.257107
2025-10-27T15:12:38.937Z,1761577958.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543170,-0.817397,-0.191907],[0.838442,0.515929,0.175594],[-0.044520,-0.256280,0.965577]]
2025-10-27T15:12:39.008Z,1761577959.008 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.442701
2025-10-27T15:12:39.024Z,1761577959.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.507762 s,
      deltaX: -0.400001 m,
      approachRate: -0.787772 m/s,
      rangeRepo size: 4

2025-10-27T15:12:39.026Z,1761577959.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.144941 m,
      bearing: 51.515157 deg,
      lat: 36.779321 deg,
      lon: -121.859544 deg,
      deltaT: 0.507762 s,
      deltaX: -0.398146 m,
      approachRate: -0.784119 m/s,
      posRepo size: 4

2025-10-27T15:12:39.027Z,1761577959.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.14 m.
2025-10-27T15:12:39.034Z,1761577959.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.144941 m,
      nav range: 11.685169 m,
      bearing: 54.168570 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.132488 deg/s,
      cmd heading: 51.528019 deg,
      new cmd heading: 51.687218 deg.

2025-10-27T15:12:39.034Z,1761577959.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902112 target range: 12.144941 and range: 12.20 m.
2025-10-27T15:12:39.261Z,1761577959.261 [DAT](INFO): DAT read: Rx Time:15:12:37.8799 

2025-10-27T15:12:39.261Z,1761577959.261 [DAT](INFO): Rx dataTimestamp_ set to:1761577959.260717
2025-10-27T15:12:39.262Z,1761577959.262 [DAT](INFO): DAT read: Bearing 217.8, -17.7 (Local)

2025-10-27T15:12:39.263Z,1761577959.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.8, -17.7 (Local)

2025-10-27T15:12:39.265Z,1761577959.265 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.5

2025-10-27T15:12:39.280Z,1761577959.280 [DAT](INFO): DAT read: 15:12:37.8799 LVL= 32752, 32753, 26066, 32755, AGC= 51, IDX= 499, 0.14,-2.810, 1.936,-2.241,-2.678, PHS=-0.031,-1.624, 0.393, RAW= 161.5,  13.6, CAL= 162.0,  15.8, ROT= 348.0, -15.8

2025-10-27T15:12:39.281Z,1761577959.281 [DAT](INFO): got valid direction response:
 15:12:37.8799 LVL= 32752, 32753, 26066, 32755, AGC= 51, IDX= 499, 0.14,-2.810, 1.936,-2.241,-2.678, PHS=-0.031,-1.624, 0.393, RAW= 161.5,  13.6, CAL= 162.0,  15.8, ROT= 348.0, -15.8

2025-10-27T15:12:39.282Z,1761577959.282 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-27T15:12:39.283Z,1761577959.283 [DAT](INFO): direction in FSK: [0.941191,-0.200056,0.272280]
2025-10-27T15:12:39.293Z,1761577959.293 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:39.336Z,1761577959.336 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.771008
2025-10-27T15:12:39.392Z,1761577959.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553438,-0.810553,-0.191601],[0.831745,0.525794,0.178159],[-0.043665,-0.257964,0.965168]]
2025-10-27T15:12:39.445Z,1761577959.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.498913 s,
      deltaX: -0.200000 m,
      approachRate: -0.400871 m/s,
      rangeRepo size: 4

2025-10-27T15:12:39.452Z,1761577959.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.945844 m,
      bearing: 49.016029 deg,
      lat: 36.779323 deg,
      lon: -121.859546 deg,
      deltaT: 0.498913 s,
      deltaX: -0.199098 m,
      approachRate: -0.399063 m/s,
      posRepo size: 4

2025-10-27T15:12:39.452Z,1761577959.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.95 m.
2025-10-27T15:12:39.459Z,1761577959.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.945844 m,
      nav range: 11.476813 m,
      bearing: 52.750433 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.132488 deg/s,
      cmd heading: 51.687217 deg,
      new cmd heading: 51.854814 deg.

2025-10-27T15:12:39.460Z,1761577959.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.905037 target range: 11.945844 and range: 12.00 m.
2025-10-27T15:12:39.513Z,1761577959.513 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.947260
2025-10-27T15:12:39.768Z,1761577959.768 [DAT](INFO): DAT read: Rx Time:15:12:38.3796 

2025-10-27T15:12:39.770Z,1761577959.770 [DAT](INFO): Rx dataTimestamp_ set to:1761577959.769039
2025-10-27T15:12:39.774Z,1761577959.774 [DAT](INFO): DAT read: Bearing 216.5, -17.9 (Local)

2025-10-27T15:12:39.775Z,1761577959.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.5, -17.9 (Local)

2025-10-27T15:12:39.788Z,1761577959.788 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.5

2025-10-27T15:12:39.792Z,1761577959.792 [DAT](INFO): DAT read: 15:12:38.3796 LVL= 32752, 32753, 25810, 32755, AGC= 52, IDX= 496, 0.10, 1.908, 0.348, 2.502, 2.043, PHS=-0.033,-1.650, 0.415, RAW= 161.9,  13.4, CAL= 162.4,  15.5, ROT= 347.6, -15.5

2025-10-27T15:12:39.793Z,1761577959.793 [DAT](INFO): got valid direction response:
 15:12:38.3796 LVL= 32752, 32753, 25810, 32755, AGC= 52, IDX= 496, 0.10, 1.908, 0.348, 2.502, 2.043, PHS=-0.033,-1.650, 0.415, RAW= 161.9,  13.4, CAL= 162.4,  15.5, ROT= 347.6, -15.5

2025-10-27T15:12:39.794Z,1761577959.794 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-27T15:12:39.806Z,1761577959.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563332,-0.803888,-0.190843],[0.825111,0.535331,0.180589],[-0.043010,-0.259198,0.964866]]
2025-10-27T15:12:39.807Z,1761577959.807 [DAT](INFO): direction in FSK: [0.941151,-0.206926,0.267238]
2025-10-27T15:12:39.807Z,1761577959.807 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:39.821Z,1761577959.821 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.255262
2025-10-27T15:12:39.934Z,1761577959.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.508322 s,
      deltaX: -0.400000 m,
      approachRate: -0.786902 m/s,
      rangeRepo size: 4

2025-10-27T15:12:39.940Z,1761577959.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.547682 m,
      bearing: 47.884993 deg,
      lat: 36.779324 deg,
      lon: -121.859549 deg,
      deltaT: 0.508322 s,
      deltaX: -0.398162 m,
      approachRate: -0.783287 m/s,
      posRepo size: 4

2025-10-27T15:12:39.941Z,1761577959.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m.
2025-10-27T15:12:39.948Z,1761577959.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.547682 m,
      nav range: 10.990220 m,
      bearing: 51.467804 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.132488 deg/s,
      cmd heading: 51.854813 deg,
      new cmd heading: 52.048982 deg.

2025-10-27T15:12:39.949Z,1761577959.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.908426 target range: 11.547682 and range: 11.60 m.
2025-10-27T15:12:40.017Z,1761577960.017 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.451469
2025-10-27T15:12:40.203Z,1761577960.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572594,-0.798021,-0.187879],[0.818742,0.544758,0.181383],[-0.042399,-0.257683,0.965299]]
2025-10-27T15:12:40.240Z,1761577960.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:40.242Z,1761577960.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m.
2025-10-27T15:12:40.250Z,1761577960.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.547682 m,
      nav range: 10.766949 m,
      bearing: 51.445842 deg,
      approach rate: -0.721758 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 52.048982 deg,
      new cmd heading: 51.981728 deg.

2025-10-27T15:12:40.250Z,1761577960.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.907252 target range: 11.547682 and range: 11.60 m.
2025-10-27T15:12:40.269Z,1761577960.269 [DAT](INFO): DAT read: Rx Time:15:12:38.8795 

2025-10-27T15:12:40.269Z,1761577960.269 [DAT](INFO): Rx dataTimestamp_ set to:1761577960.268826
2025-10-27T15:12:40.270Z,1761577960.270 [DAT](INFO): DAT read: Bearing 214.3, -17.4 (Local)

2025-10-27T15:12:40.271Z,1761577960.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.3, -17.4 (Local)

2025-10-27T15:12:40.273Z,1761577960.273 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed 0.7

2025-10-27T15:12:40.277Z,1761577960.277 [DAT](INFO): DAT read: 15:12:38.8795 LVL= 32752, 32753, 27122, 32755, AGC= 51, IDX= 511, 0.15, 1.802, 0.219, 2.399, 1.904, PHS=-0.000,-1.639, 0.452, RAW= 161.8,  12.4, CAL= 162.2,  14.2, ROT= 347.8, -14.2

2025-10-27T15:12:40.279Z,1761577960.279 [DAT](INFO): got valid direction response:
 15:12:38.8795 LVL= 32752, 32753, 27122, 32755, AGC= 51, IDX= 511, 0.15, 1.802, 0.219, 2.399, 1.904, PHS=-0.000,-1.639, 0.452, RAW= 161.8,  12.4, CAL= 162.2,  14.2, ROT= 347.8, -14.2

2025-10-27T15:12:40.279Z,1761577960.279 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-27T15:12:40.280Z,1761577960.280 [DAT](INFO): direction in FSK: [0.947551,-0.204868,0.245307]
2025-10-27T15:12:40.280Z,1761577960.280 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:40.288Z,1761577960.288 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.722769
2025-10-27T15:12:40.523Z,1761577960.523 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.958166
2025-10-27T15:12:40.616Z,1761577960.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580461,-0.793070,-0.184676],[0.813230,0.553039,0.181124],[-0.041511,-0.255320,0.965965]]
2025-10-27T15:12:40.680Z,1761577960.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.499787 s,
      deltaX: -0.200001 m,
      approachRate: -0.400172 m/s,
      rangeRepo size: 4

2025-10-27T15:12:40.682Z,1761577960.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.348582 m,
      bearing: 46.444515 deg,
      lat: 36.779329 deg,
      lon: -121.859551 deg,
      deltaT: 0.499787 s,
      deltaX: -0.199100 m,
      approachRate: -0.398369 m/s,
      posRepo size: 4

2025-10-27T15:12:40.687Z,1761577960.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.35 m.
2025-10-27T15:12:40.690Z,1761577960.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.348582 m,
      nav range: 10.640427 m,
      bearing: 48.729050 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 51.981728 deg,
      new cmd heading: 51.886796 deg.

2025-10-27T15:12:40.691Z,1761577960.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.905595 target range: 11.348582 and range: 11.40 m.
2025-10-27T15:12:40.778Z,1761577960.778 [DAT](INFO): DAT read: Rx Time:15:12:39.3792 

2025-10-27T15:12:40.780Z,1761577960.780 [DAT](INFO): Rx dataTimestamp_ set to:1761577960.778485
2025-10-27T15:12:40.784Z,1761577960.784 [DAT](INFO): DAT read: Bearing 209.2, -15.4 (Local)

2025-10-27T15:12:40.786Z,1761577960.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.2, -15.4 (Local)

2025-10-27T15:12:40.824Z,1761577960.824 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed 0.5

2025-10-27T15:12:40.830Z,1761577960.830 [DAT](INFO): DAT read: 15:12:39.3792 LVL= 29680, 32753, 27282, 32755, AGC= 49, IDX= 508, 0.26,-0.713,-2.294,-0.127,-0.722, PHS= 0.111,-1.527, 0.551, RAW= 161.6,   9.2, CAL= 161.4,   9.7, ROT= 348.6,  -9.7

2025-10-27T15:12:40.836Z,1761577960.836 [DAT](INFO): got valid direction response:
 15:12:39.3792 LVL= 29680, 32753, 27282, 32755, AGC= 49, IDX= 508, 0.26,-0.713,-2.294,-0.127,-0.722, PHS= 0.111,-1.527, 0.551, RAW= 161.6,   9.2, CAL= 161.4,   9.7, ROT= 348.6,  -9.7

2025-10-27T15:12:40.837Z,1761577960.837 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-27T15:12:40.838Z,1761577960.838 [DAT](INFO): direction in FSK: [0.966257,-0.194831,0.168489]
2025-10-27T15:12:40.839Z,1761577960.839 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:40.855Z,1761577960.855 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.289330
2025-10-27T15:12:41.024Z,1761577961.024 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.458549
2025-10-27T15:12:41.102Z,1761577961.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587764,-0.788639,-0.180505],[0.807998,0.560935,0.180255],[-0.040905,-0.251795,0.966916]]
2025-10-27T15:12:41.204Z,1761577961.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.509659 s,
      deltaX: -0.400000 m,
      approachRate: -0.784838 m/s,
      rangeRepo size: 4

2025-10-27T15:12:41.206Z,1761577961.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.950427 m,
      bearing: 45.437936 deg,
      lat: 36.779330 deg,
      lon: -121.859551 deg,
      deltaT: 0.509659 s,
      deltaX: -0.398155 m,
      approachRate: -0.781219 m/s,
      posRepo size: 4

2025-10-27T15:12:41.211Z,1761577961.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m.
2025-10-27T15:12:41.214Z,1761577961.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.950427 m,
      nav range: 10.323052 m,
      bearing: 48.007321 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 51.886796 deg,
      new cmd heading: 51.772741 deg.

2025-10-27T15:12:41.219Z,1761577961.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.903605 target range: 10.950427 and range: 11.00 m.
2025-10-27T15:12:41.278Z,1761577961.278 [DAT](INFO): DAT read: Rx Time:15:12:39.8791 

2025-10-27T15:12:41.278Z,1761577961.278 [DAT](INFO): Rx dataTimestamp_ set to:1761577961.277910
2025-10-27T15:12:41.281Z,1761577961.281 [DAT](INFO): DAT read: Bearing 208.0, -14.2 (Local)

2025-10-27T15:12:41.281Z,1761577961.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.0, -14.2 (Local)

2025-10-27T15:12:41.284Z,1761577961.284 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.6

2025-10-27T15:12:41.291Z,1761577961.291 [DAT](INFO): DAT read: 15:12:39.8791 LVL= 29296, 32753, 28194, 32755, AGC= 48, IDX= 507, 0.23, 1.016,-0.585, 1.572, 0.969, PHS= 0.149,-1.509, 0.559, RAW= 160.8,   8.5, CAL= 160.5,   8.8, ROT= 349.5,  -8.8

2025-10-27T15:12:41.293Z,1761577961.293 [DAT](INFO): got valid direction response:
 15:12:39.8791 LVL= 29296, 32753, 28194, 32755, AGC= 48, IDX= 507, 0.23, 1.016,-0.585, 1.572, 0.969, PHS= 0.149,-1.509, 0.559, RAW= 160.8,   8.5, CAL= 160.5,   8.8, ROT= 349.5,  -8.8

2025-10-27T15:12:41.293Z,1761577961.293 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-27T15:12:41.295Z,1761577961.295 [DAT](INFO): direction in FSK: [0.971680,-0.180091,0.152986]
2025-10-27T15:12:41.295Z,1761577961.295 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:41.301Z,1761577961.301 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.735291
2025-10-27T15:12:41.446Z,1761577961.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593586,-0.785107,-0.176814],[0.803758,0.567339,0.179162],[-0.040348,-0.248464,0.967800]]
2025-10-27T15:12:41.516Z,1761577961.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.499425 s,
      deltaX: -0.200000 m,
      approachRate: -0.400460 m/s,
      rangeRepo size: 4

2025-10-27T15:12:41.518Z,1761577961.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.751328 m,
      bearing: 45.619826 deg,
      lat: 36.779334 deg,
      lon: -121.859551 deg,
      deltaT: 0.499425 s,
      deltaX: -0.199099 m,
      approachRate: -0.398656 m/s,
      posRepo size: 4

2025-10-27T15:12:41.523Z,1761577961.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.75 m.
2025-10-27T15:12:41.526Z,1761577961.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.751328 m,
      nav range: 10.391525 m,
      bearing: 46.123450 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 51.772742 deg,
      new cmd heading: 51.704920 deg.

2025-10-27T15:12:41.528Z,1761577961.528 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.962774
2025-10-27T15:12:41.531Z,1761577961.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902421 target range: 10.751328 and range: 10.80 m.
2025-10-27T15:12:41.785Z,1761577961.785 [DAT](INFO): DAT read: Rx Time:15:12:40.3789 

2025-10-27T15:12:41.787Z,1761577961.787 [DAT](INFO): Rx dataTimestamp_ set to:1761577961.785813
2025-10-27T15:12:41.795Z,1761577961.795 [DAT](INFO): DAT read: Bearing 207.5, -13.4 (Local)

2025-10-27T15:12:41.797Z,1761577961.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.5, -13.4 (Local)

2025-10-27T15:12:41.805Z,1761577961.805 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed 0.0

2025-10-27T15:12:41.842Z,1761577961.842 [DAT](INFO): DAT read: 15:12:40.3789 LVL= 30944, 32753, 28034, 32755, AGC= 46, IDX= 504, 0.18, 0.179,-1.419, 0.700, 0.113, PHS= 0.168,-1.488, 0.543, RAW= 160.0,   8.4, CAL= 159.7,   8.6, ROT= 350.3,  -8.6

2025-10-27T15:12:41.883Z,1761577961.883 [DAT](INFO): got valid direction response:
 15:12:40.3789 LVL= 30944, 32753, 28034, 32755, AGC= 46, IDX= 504, 0.18, 0.179,-1.419, 0.700, 0.113, PHS= 0.168,-1.488, 0.543, RAW= 160.0,   8.4, CAL= 159.7,   8.6, ROT= 350.3,  -8.6

2025-10-27T15:12:41.884Z,1761577961.884 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-27T15:12:41.885Z,1761577961.885 [DAT](INFO): direction in FSK: [0.974621,-0.166595,0.149535]
2025-10-27T15:12:41.885Z,1761577961.885 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:41.893Z,1761577961.893 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.327684
2025-10-27T15:12:41.896Z,1761577961.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598303,-0.782755,-0.171254],[0.800278,0.573126,0.176298],[-0.039848,-0.242530,0.969325]]
2025-10-27T15:12:41.996Z,1761577961.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.507903 s,
      deltaX: -0.400001 m,
      approachRate: -0.787553 m/s,
      rangeRepo size: 4

2025-10-27T15:12:41.998Z,1761577961.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.353122 m,
      bearing: 45.939478 deg,
      lat: 36.779335 deg,
      lon: -121.859551 deg,
      deltaT: 0.507903 s,
      deltaX: -0.398207 m,
      approachRate: -0.784021 m/s,
      posRepo size: 4

2025-10-27T15:12:41.000Z,1761577962.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.35 m.
2025-10-27T15:12:42.002Z,1761577962.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.353122 m,
      nav range: 10.130037 m,
      bearing: 45.326756 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 51.704921 deg,
      new cmd heading: 51.600577 deg.

2025-10-27T15:12:42.012Z,1761577962.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.900600 target range: 10.353122 and range: 10.40 m.
2025-10-27T15:12:42.032Z,1761577962.032 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.466784
2025-10-27T15:12:42.285Z,1761577962.285 [DAT](INFO): DAT read: Rx Time:15:12:40.8787 

2025-10-27T15:12:42.285Z,1761577962.285 [DAT](INFO): Rx dataTimestamp_ set to:1761577962.284732
2025-10-27T15:12:42.286Z,1761577962.286 [DAT](INFO): DAT read: Bearing 207.9, -12.8 (Local)

2025-10-27T15:12:42.287Z,1761577962.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.9, -12.8 (Local)

2025-10-27T15:12:42.289Z,1761577962.289 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed 0.4

2025-10-27T15:12:42.293Z,1761577962.293 [DAT](INFO): DAT read: 15:12:40.8787 LVL= 29088, 32753, 26866, 32755, AGC= 48, IDX= 502, 0.08,-0.060,-1.670, 0.431,-0.127, PHS= 0.169,-1.498, 0.513, RAW= 159.2,   8.8, CAL= 158.9,   9.2, ROT= 351.1,  -9.2

2025-10-27T15:12:42.294Z,1761577962.294 [DAT](INFO): got valid direction response:
 15:12:40.8787 LVL= 29088, 32753, 26866, 32755, AGC= 48, IDX= 502, 0.08,-0.060,-1.670, 0.431,-0.127, PHS= 0.169,-1.498, 0.513, RAW= 159.2,   8.8, CAL= 158.9,   9.2, ROT= 351.1,  -9.2

2025-10-27T15:12:42.295Z,1761577962.295 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-27T15:12:42.296Z,1761577962.296 [DAT](INFO): direction in FSK: [0.975251,-0.152720,0.159881]
2025-10-27T15:12:42.296Z,1761577962.296 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:42.308Z,1761577962.308 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.742462
2025-10-27T15:12:42.312Z,1761577962.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602098,-0.781021,-0.165783],[0.797451,0.578020,0.173105],[-0.039373,-0.236430,0.970850]]
2025-10-27T15:12:42.366Z,1761577962.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.498919 s,
      deltaX: -0.299999 m,
      approachRate: -0.601299 m/s,
      rangeRepo size: 4

2025-10-27T15:12:42.384Z,1761577962.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.054475 m,
      bearing: 46.523077 deg,
      lat: 36.779335 deg,
      lon: -121.859550 deg,
      deltaT: 0.498919 s,
      deltaX: -0.298647 m,
      approachRate: -0.598588 m/s,
      posRepo size: 4

2025-10-27T15:12:42.385Z,1761577962.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.05 m.
2025-10-27T15:12:42.393Z,1761577962.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.054475 m,
      nav range: 9.917373 m,
      bearing: 45.412672 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 51.600577 deg,
      new cmd heading: 51.520296 deg.

2025-10-27T15:12:42.394Z,1761577962.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899199 target range: 10.054475 and range: 10.10 m.
2025-10-27T15:12:42.536Z,1761577962.536 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.970886
2025-10-27T15:12:42.706Z,1761577962.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604926,-0.779970,-0.160347],[0.795307,0.581850,0.170108],[-0.039381,-0.230428,0.972292]]
2025-10-27T15:12:42.793Z,1761577962.793 [DAT](INFO): DAT read: Rx Time:15:12:41.3784 

2025-10-27T15:12:42.794Z,1761577962.794 [DAT](INFO): Rx dataTimestamp_ set to:1761577962.793026
2025-10-27T15:12:42.798Z,1761577962.798 [DAT](INFO): DAT read: Bearing 208.3, -12.3 (Local)

2025-10-27T15:12:42.799Z,1761577962.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.3, -12.3 (Local)

2025-10-27T15:12:42.807Z,1761577962.807 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed 0.5

2025-10-27T15:12:42.860Z,1761577962.860 [DAT](INFO): DAT read: 15:12:41.3784 LVL= 32384, 32753, 27922, 32755, AGC= 48, IDX= 499,-0.17,-0.976,-2.572,-0.515,-1.039, PHS= 0.165,-1.488, 0.480, RAW= 158.6,   9.2, CAL= 158.3,   9.8, ROT= 351.7,  -9.8

2025-10-27T15:12:42.861Z,1761577962.861 [DAT](INFO): got valid direction response:
 15:12:41.3784 LVL= 32384, 32753, 27922, 32755, AGC= 48, IDX= 499,-0.17,-0.976,-2.572,-0.515,-1.039, PHS= 0.165,-1.488, 0.480, RAW= 158.6,   9.2, CAL= 158.3,   9.8, ROT= 351.7,  -9.8

2025-10-27T15:12:42.862Z,1761577962.862 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-27T15:12:42.883Z,1761577962.883 [DAT](INFO): direction in FSK: [0.975087,-0.142249,0.170209]
2025-10-27T15:12:42.883Z,1761577962.883 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:42.899Z,1761577962.899 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.321541
2025-10-27T15:12:43.006Z,1761577963.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.508294 s,
      deltaX: -0.500000 m,
      approachRate: -0.983683 m/s,
      rangeRepo size: 4

2025-10-27T15:12:43.012Z,1761577963.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.556776 m,
      bearing: 46.977269 deg,
      lat: 36.779335 deg,
      lon: -121.859549 deg,
      deltaT: 0.508294 s,
      deltaX: -0.497699 m,
      approachRate: -0.979155 m/s,
      posRepo size: 4

2025-10-27T15:12:43.013Z,1761577963.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-10-27T15:12:43.013Z,1761577963.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m.
2025-10-27T15:12:43.013Z,1761577963.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-27T15:12:43.020Z,1761577963.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 9.477409 m,
      bearing: 45.108689 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 51.520298 deg,
      new cmd heading: 51.381139 deg.

2025-10-27T15:12:43.021Z,1761577963.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896770 target range: 9.556776 and range: 9.60 m.
2025-10-27T15:12:43.044Z,1761577963.044 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.477516
2025-10-27T15:12:43.292Z,1761577963.292 [DAT](INFO): DAT read: Rx Time:15:12:41.8783 

2025-10-27T15:12:43.293Z,1761577963.293 [DAT](INFO): Rx dataTimestamp_ set to:1761577963.292614
2025-10-27T15:12:43.294Z,1761577963.294 [DAT](INFO): DAT read: Bearing 213.2, -13.7 (Local)

2025-10-27T15:12:43.294Z,1761577963.294 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.2, -13.7 (Local)

2025-10-27T15:12:43.297Z,1761577963.297 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed 0.6

2025-10-27T15:12:43.301Z,1761577963.301 [DAT](INFO): DAT read: 15:12:41.8783 LVL= 32752, 32753, 31218, 32755, AGC= 47, IDX= 497, 0.43, 3.012, 1.418,-2.822, 3.068, PHS= 0.047,-1.605, 0.350, RAW= 158.3,  13.2, CAL= 158.8,  15.0, ROT= 351.2, -15.0

2025-10-27T15:12:43.302Z,1761577963.302 [DAT](INFO): got valid direction response:
 15:12:41.8783 LVL= 32752, 32753, 31218, 32755, AGC= 47, IDX= 497, 0.43, 3.012, 1.418,-2.822, 3.068, PHS= 0.047,-1.605, 0.350, RAW= 158.3,  13.2, CAL= 158.8,  15.0, ROT= 351.2, -15.0

2025-10-27T15:12:43.303Z,1761577963.303 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-27T15:12:43.304Z,1761577963.304 [DAT](INFO): direction in FSK: [0.954555,-0.147773,0.258819]
2025-10-27T15:12:43.304Z,1761577963.304 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:43.308Z,1761577963.308 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.742329
2025-10-27T15:12:43.386Z,1761577963.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608224,-0.779109,-0.151828],[0.792828,0.586995,0.163894],[-0.038569,-0.220058,0.974724]]
2025-10-27T15:12:43.471Z,1761577963.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.499588 s,
      deltaX: -0.100000 m,
      approachRate: -0.200166 m/s,
      rangeRepo size: 4

2025-10-27T15:12:43.473Z,1761577963.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.457226 m,
      bearing: 47.344974 deg,
      lat: 36.779334 deg,
      lon: -121.859548 deg,
      deltaT: 0.499588 s,
      deltaX: -0.099550 m,
      approachRate: -0.199265 m/s,
      posRepo size: 4

2025-10-27T15:12:43.474Z,1761577963.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.46 m. 9.56 m.
2025-10-27T15:12:43.481Z,1761577963.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 9.133957 m,
      bearing: 44.677403 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 51.381140 deg,
      new cmd heading: 51.280855 deg.

2025-10-27T15:12:43.482Z,1761577963.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895020 target range: 9.556776 and range: 9.50 m.
2025-10-27T15:12:43.548Z,1761577963.548 [DAT](INFO): DAT read: Rx Time:15:12:42.3779 

2025-10-27T15:12:43.549Z,1761577963.549 [DAT](INFO): Rx dataTimestamp_ set to:1761577963.548348
2025-10-27T15:12:43.551Z,1761577963.551 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.984997
2025-10-27T15:12:43.801Z,1761577963.801 [DAT](INFO): DAT read: Bearing 213.6, -14.4 (Local)

2025-10-27T15:12:43.802Z,1761577963.802 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.6, -14.4 (Local)

2025-10-27T15:12:43.809Z,1761577963.809 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.6

2025-10-27T15:12:43.826Z,1761577963.826 [DAT](INFO): DAT read: 15:12:42.3779 LVL= 32752, 32753, 26018, 32755, AGC= 45, IDX= 494, 0.18, 1.038,-0.546, 1.507, 1.117, PHS= 0.023,-1.619, 0.345, RAW= 158.8,  13.6, CAL= 159.4,  15.6, ROT= 350.6, -15.6

2025-10-27T15:12:43.848Z,1761577963.848 [DAT](INFO): got valid direction response:
 15:12:42.3779 LVL= 32752, 32753, 26018, 32755, AGC= 45, IDX= 494, 0.18, 1.038,-0.546, 1.507, 1.117, PHS= 0.023,-1.619, 0.345, RAW= 158.8,  13.6, CAL= 159.4,  15.6, ROT= 350.6, -15.6

2025-10-27T15:12:43.848Z,1761577963.848 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-27T15:12:43.849Z,1761577963.849 [DAT](INFO): direction in FSK: [0.950229,-0.157309,0.268920]
2025-10-27T15:12:43.850Z,1761577963.850 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:43.857Z,1761577963.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609267,-0.779063,-0.147834],[0.792023,0.588789,0.161326],[-0.038640,-0.215378,0.975766]]
2025-10-27T15:12:43.867Z,1761577963.867 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.301964
2025-10-27T15:12:43.976Z,1761577963.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504318 s,
      deltaX: -0.600000 m,
      approachRate: -1.189726 m/s,
      rangeRepo size: 4

2025-10-27T15:12:43.978Z,1761577963.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.859947 m,
      bearing: 46.746487 deg,
      lat: 36.779333 deg,
      lon: -121.859547 deg,
      deltaT: 1.003906 s,
      deltaX: -0.696829 m,
      approachRate: -0.694118 m/s,
      posRepo size: 4

2025-10-27T15:12:43.983Z,1761577963.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.86 m. 9.56 m.
2025-10-27T15:12:43.986Z,1761577963.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 8.734585 m,
      bearing: 44.150889 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 51.280855 deg,
      new cmd heading: 51.170211 deg.

2025-10-27T15:12:43.987Z,1761577963.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893089 target range: 9.556776 and range: 8.90 m.
2025-10-27T15:12:44.053Z,1761577964.053 [DAT](INFO): DAT read: Rx Time:15:12:42.8778 

2025-10-27T15:12:44.056Z,1761577964.056 [DAT](INFO): Rx dataTimestamp_ set to:1761577964.054151
2025-10-27T15:12:44.058Z,1761577964.058 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.492039
2025-10-27T15:12:44.259Z,1761577964.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609598,-0.779432,-0.144482],[0.791776,0.589836,0.158695],[-0.038471,-0.211138,0.976699]]
2025-10-27T15:12:44.287Z,1761577964.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:44.289Z,1761577964.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-10-27T15:12:44.293Z,1761577964.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 8.478035 m,
      bearing: 43.786337 deg,
      approach rate: -0.817043 m/s,
      LOS rate: -1.196125 deg/s,
      cmd heading: 51.170210 deg,
      new cmd heading: 50.043613 deg.

2025-10-27T15:12:44.294Z,1761577964.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873426 target range: 9.556776 and range: 8.90 m.
2025-10-27T15:12:44.301Z,1761577964.301 [DAT](INFO): DAT read: Bearing 214.0, -15.0 (Local)

2025-10-27T15:12:44.301Z,1761577964.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.0, -15.0 (Local)

2025-10-27T15:12:44.303Z,1761577964.303 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed 0.6

2025-10-27T15:12:44.308Z,1761577964.308 [DAT](INFO): DAT read: 15:12:42.8778 LVL= 32752, 32753, 30402, 32755, AGC= 47, IDX= 509,-0.12, 0.045,-1.524, 0.529, 0.148, PHS=-0.000,-1.626, 0.337, RAW= 159.3,  14.1, CAL= 159.9,  16.2, ROT= 350.1, -16.2

2025-10-27T15:12:44.309Z,1761577964.309 [DAT](INFO): got valid direction response:
 15:12:42.8778 LVL= 32752, 32753, 30402, 32755, AGC= 47, IDX= 509,-0.12, 0.045,-1.524, 0.529, 0.148, PHS=-0.000,-1.626, 0.337, RAW= 159.3,  14.1, CAL= 159.9,  16.2, ROT= 350.1, -16.2

2025-10-27T15:12:44.309Z,1761577964.309 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-27T15:12:44.310Z,1761577964.310 [DAT](INFO): direction in FSK: [0.945994,-0.165102,0.278991]
2025-10-27T15:12:44.311Z,1761577964.311 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:44.314Z,1761577964.314 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.749165
2025-10-27T15:12:44.555Z,1761577964.555 [DAT](INFO): DAT read: Rx Time:15:12:43.3774 

2025-10-27T15:12:44.557Z,1761577964.557 [DAT](INFO): Rx dataTimestamp_ set to:1761577964.555940
2025-10-27T15:12:44.560Z,1761577964.560 [DAT](INFO): DAT read: Bearing 215.4, -16.9 (Local)

2025-10-27T15:12:44.562Z,1761577964.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.4, -16.9 (Local)

2025-10-27T15:12:44.564Z,1761577964.564 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.997852
2025-10-27T15:12:44.674Z,1761577964.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609736,-0.780032,-0.140609],[0.791678,0.590790,0.155604],[-0.038306,-0.206195,0.977761]]
2025-10-27T15:12:44.702Z,1761577964.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.502555 s,
      deltaX: -0.200000 m,
      approachRate: -0.397966 m/s,
      rangeRepo size: 4

2025-10-27T15:12:44.704Z,1761577964.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.660848 m,
      bearing: 46.196571 deg,
      lat: 36.779333 deg,
      lon: -121.859547 deg,
      deltaT: 1.506461 s,
      deltaX: -0.895928 m,
      approachRate: -0.594724 m/s,
      posRepo size: 4

2025-10-27T15:12:44.705Z,1761577964.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.66 m. 9.56 m.
2025-10-27T15:12:44.708Z,1761577964.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 8.160129 m,
      bearing: 43.301941 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 50.043611 deg,
      new cmd heading: 49.954085 deg.

2025-10-27T15:12:44.708Z,1761577964.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.871863 target range: 9.556776 and range: 8.70 m.
2025-10-27T15:12:44.806Z,1761577964.806 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed 0.7

2025-10-27T15:12:44.821Z,1761577964.821 [DAT](INFO): DAT read: 15:12:43.3774 LVL= 32752, 32753, 27682, 32755, AGC= 45, IDX= 505, 0.36, 1.063,-0.451, 1.597, 1.231, PHS=-0.066,-1.637, 0.322, RAW= 160.8,  15.2, CAL= 161.6,  17.9, ROT= 348.4, -17.9

2025-10-27T15:12:44.876Z,1761577964.876 [DAT](INFO): got valid direction response:
 15:12:43.3774 LVL= 32752, 32753, 27682, 32755, AGC= 45, IDX= 505, 0.36, 1.063,-0.451, 1.597, 1.231, PHS=-0.066,-1.637, 0.322, RAW= 160.8,  15.2, CAL= 161.6,  17.9, ROT= 348.4, -17.9

2025-10-27T15:12:44.876Z,1761577964.876 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-27T15:12:44.877Z,1761577964.877 [DAT](INFO): direction in FSK: [0.932158,-0.191345,0.307357]
2025-10-27T15:12:44.877Z,1761577964.877 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:44.891Z,1761577964.891 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.325279
2025-10-27T15:12:45.059Z,1761577965.059 [DAT](INFO): DAT read: Rx Time:15:12:43.8772 

2025-10-27T15:12:45.061Z,1761577965.061 [DAT](INFO): Rx dataTimestamp_ set to:1761577965.059863
2025-10-27T15:12:45.071Z,1761577965.071 [DAT](INFO): DAT read: Bearing 218.9, -17.9 (Local)

2025-10-27T15:12:45.072Z,1761577965.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.9, -17.9 (Local)

2025-10-27T15:12:45.089Z,1761577965.089 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed 0.6

2025-10-27T15:12:45.092Z,1761577965.092 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-10-27T15:12:45.111Z,1761577965.111 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.529259
2025-10-27T15:12:45.153Z,1761577965.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609351,-0.780782,-0.138099],[0.791996,0.591035,0.153037],[-0.037867,-0.202627,0.978523]]
2025-10-27T15:12:45.238Z,1761577965.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.760376 s,
      deltaX: -0.900000 m,
      approachRate: -1.183624 m/s,
      rangeRepo size: 4

2025-10-27T15:12:45.249Z,1761577965.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.764894 m,
      bearing: 44.882911 deg,
      lat: 36.779332 deg,
      lon: -121.859547 deg,
      deltaT: 2.266837 s,
      deltaX: -1.791882 m,
      approachRate: -0.790477 m/s,
      posRepo size: 4

2025-10-27T15:12:45.250Z,1761577965.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.76 m. 9.56 m.
2025-10-27T15:12:45.256Z,1761577965.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 7.734500 m,
      bearing: 42.590738 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 49.954084 deg,
      new cmd heading: 49.837374 deg.

2025-10-27T15:12:45.257Z,1761577965.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869826 target range: 9.556776 and range: 7.80 m.
2025-10-27T15:12:45.314Z,1761577965.314 [DAT](INFO): DAT read: 15:12:43.8772 LVL= 32752, 32753, 32754, 32755, AGC= 46, IDX= 504,-0.14, 2.123, 0.649, 2.655, 2.362, PHS=-0.138,-1.669, 0.249, RAW= 161.0,  17.4, CAL= 162.2,  21.4, ROT= 347.8, -21.4

2025-10-27T15:12:45.315Z,1761577965.315 [DAT](INFO): got valid direction response:
 15:12:43.8772 LVL= 32752, 32753, 32754, 32755, AGC= 46, IDX= 504,-0.14, 2.123, 0.649, 2.655, 2.362, PHS=-0.138,-1.669, 0.249, RAW= 161.0,  17.4, CAL= 162.2,  21.4, ROT= 347.8, -21.4

2025-10-27T15:12:45.316Z,1761577965.316 [DAT](INFO): #Rx 70: Read direction message, but no range.
2025-10-27T15:12:45.317Z,1761577965.317 [DAT](INFO): direction in FSK: [0.910029,-0.196755,0.364877]
2025-10-27T15:12:45.321Z,1761577965.321 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.755993
2025-10-27T15:12:45.570Z,1761577965.570 [DAT](INFO): DAT read: Rx Time:15:12:44.3769 

2025-10-27T15:12:45.572Z,1761577965.572 [DAT](INFO): Rx dataTimestamp_ set to:1761577965.570258
2025-10-27T15:12:45.575Z,1761577965.575 [DAT](INFO): DAT read: Bearing 217.8, -19.9 (Local)

2025-10-27T15:12:45.576Z,1761577965.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.8, -19.9 (Local)

2025-10-27T15:12:45.590Z,1761577965.590 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.7

2025-10-27T15:12:45.599Z,1761577965.599 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-10-27T15:12:45.600Z,1761577965.600 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.034748
2025-10-27T15:12:45.638Z,1761577965.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609516,-0.781019,-0.136012],[0.791878,0.591645,0.151282],[-0.037684,-0.199914,0.979089]]
2025-10-27T15:12:45.720Z,1761577965.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.510395 s,
      deltaX: -0.400000 m,
      approachRate: -0.783707 m/s,
      rangeRepo size: 4

2025-10-27T15:12:45.729Z,1761577965.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.366694 m,
      bearing: 45.030515 deg,
      lat: 36.779331 deg,
      lon: -121.859547 deg,
      deltaT: 2.777232 s,
      deltaX: -2.190082 m,
      approachRate: -0.788584 m/s,
      posRepo size: 4

2025-10-27T15:12:45.730Z,1761577965.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.37 m. 9.56 m.
2025-10-27T15:12:45.739Z,1761577965.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 7.366940 m,
      bearing: 41.908661 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 49.837373 deg,
      new cmd heading: 49.733772 deg.

2025-10-27T15:12:45.744Z,1761577965.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868018 target range: 9.556776 and range: 7.40 m.
2025-10-27T15:12:45.833Z,1761577965.833 [DAT](INFO): DAT read: 15:12:44.3769 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 500, 0.22,-3.086, 1.751,-2.455,-2.811, PHS=-0.173,-1.676, 0.312, RAW= 163.5,  16.8, CAL= 164.5,  20.7, ROT= 345.5, -20.7

2025-10-27T15:12:45.841Z,1761577965.841 [DAT](INFO): got valid direction response:
 15:12:44.3769 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 500, 0.22,-3.086, 1.751,-2.455,-2.811, PHS=-0.173,-1.676, 0.312, RAW= 163.5,  16.8, CAL= 164.5,  20.7, ROT= 345.5, -20.7

2025-10-27T15:12:45.842Z,1761577965.842 [DAT](INFO): #Rx 72: Read direction message, but no range.
2025-10-27T15:12:45.854Z,1761577965.854 [DAT](INFO): direction in FSK: [0.905648,-0.234216,0.353475]
2025-10-27T15:12:45.885Z,1761577965.885 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.319370
2025-10-27T15:12:46.071Z,1761577966.071 [DAT](INFO): DAT read: Rx Time:15:12:44.8766 

2025-10-27T15:12:46.073Z,1761577966.073 [DAT](INFO): Rx dataTimestamp_ set to:1761577966.071985
2025-10-27T15:12:46.076Z,1761577966.076 [DAT](INFO): DAT read: Bearing 219.2, -23.1 (Local)

2025-10-27T15:12:46.077Z,1761577966.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.2, -23.1 (Local)

2025-10-27T15:12:46.079Z,1761577966.079 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.513390
2025-10-27T15:12:46.233Z,1761577966.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-10-27T15:12:46.240Z,1761577966.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 6.974395 m,
      bearing: 41.201507 deg,
      approach rate: -0.756650 m/s,
      LOS rate: -1.439755 deg/s,
      cmd heading: 49.733773 deg,
      new cmd heading: 47.494106 deg.

2025-10-27T15:12:46.241Z,1761577966.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828929 target range: 9.556776 and range: 7.40 m.
2025-10-27T15:12:46.323Z,1761577966.323 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed 0.7

2025-10-27T15:12:46.328Z,1761577966.328 [DAT](INFO): DAT read: 15:12:44.8766 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 498,-0.14, 1.081,-0.294, 1.830, 1.442, PHS=-0.259,-1.691, 0.345, RAW= 166.8,  17.4, CAL= 167.7,  22.4, ROT= 342.3, -22.4

2025-10-27T15:12:46.329Z,1761577966.329 [DAT](INFO): got valid direction response:
 15:12:44.8766 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 498,-0.14, 1.081,-0.294, 1.830, 1.442, PHS=-0.259,-1.691, 0.345, RAW= 166.8,  17.4, CAL= 167.7,  22.4, ROT= 342.3, -22.4

2025-10-27T15:12:46.329Z,1761577966.329 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-27T15:12:46.332Z,1761577966.332 [DAT](INFO): direction in FSK: [0.880779,-0.281093,0.381070]
2025-10-27T15:12:46.332Z,1761577966.332 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:46.338Z,1761577966.338 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.772129
2025-10-27T15:12:46.557Z,1761577966.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609652,-0.781142,-0.134688],[0.791838,0.592376,0.148606],[-0.036296,-0.197249,0.979681]]
2025-10-27T15:12:46.575Z,1761577966.575 [DAT](INFO): DAT read: Rx Time:15:12:45.3763 

2025-10-27T15:12:46.577Z,1761577966.577 [DAT](INFO): Rx dataTimestamp_ set to:1761577966.576066
2025-10-27T15:12:46.580Z,1761577966.580 [DAT](INFO): DAT read: Bearing 218.7, -25.9 (Local)

2025-10-27T15:12:46.582Z,1761577966.582 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.7, -25.9 (Local)

2025-10-27T15:12:46.586Z,1761577966.586 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed 0.7

2025-10-27T15:12:46.603Z,1761577966.603 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-10-27T15:12:46.604Z,1761577966.604 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.038593
2025-10-27T15:12:46.672Z,1761577966.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 1.005808 s,
      deltaX: -0.900000 m,
      approachRate: -0.894803 m/s,
      rangeRepo size: 4

2025-10-27T15:12:46.674Z,1761577966.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.470736 m,
      bearing: 39.799328 deg,
      lat: 36.779331 deg,
      lon: -121.859549 deg,
      deltaT: 3.783040 s,
      deltaX: -3.086040 m,
      approachRate: -0.815757 m/s,
      posRepo size: 4

2025-10-27T15:12:46.683Z,1761577966.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.47 m. 9.56 m.
2025-10-27T15:12:46.686Z,1761577966.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 6.648780 m,
      bearing: 40.549790 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 47.494106 deg,
      new cmd heading: 47.399755 deg.

2025-10-27T15:12:46.691Z,1761577966.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827282 target range: 9.556776 and range: 6.50 m.
2025-10-27T15:12:46.831Z,1761577966.831 [DAT](INFO): DAT read: 15:12:45.3763 LVL= 32752, 32753, 30194, 32755, AGC= 48, IDX= 494, 0.36, 0.804,-0.496, 1.676, 1.226, PHS=-0.319,-1.677, 0.407, RAW= 170.1,  17.1, CAL= 170.8,  22.3, ROT= 339.2, -22.3

2025-10-27T15:12:46.832Z,1761577966.832 [DAT](INFO): got valid direction response:
 15:12:45.3763 LVL= 32752, 32753, 30194, 32755, AGC= 48, IDX= 494, 0.36, 0.804,-0.496, 1.676, 1.226, PHS=-0.319,-1.677, 0.407, RAW= 170.1,  17.1, CAL= 170.8,  22.3, ROT= 339.2, -22.3

2025-10-27T15:12:46.832Z,1761577966.832 [DAT](INFO): #Rx 75: Read direction message, but no range.
2025-10-27T15:12:46.833Z,1761577966.833 [DAT](INFO): direction in FSK: [0.864910,-0.328548,0.379456]
2025-10-27T15:12:46.838Z,1761577966.838 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.271587
2025-10-27T15:12:46.984Z,1761577966.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610187,-0.780815,-0.134160],[0.791423,0.592976,0.148418],[-0.036333,-0.196740,0.979782]]
2025-10-27T15:12:47.080Z,1761577967.080 [DAT](INFO): DAT read: Rx Time:15:12:45.8761 

2025-10-27T15:12:47.082Z,1761577967.082 [DAT](INFO): Rx dataTimestamp_ set to:1761577967.080876
2025-10-27T15:12:47.087Z,1761577967.087 [DAT](INFO): DAT read: Bearing 218.4, -26.5 (Local)

2025-10-27T15:12:47.088Z,1761577967.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.4, -26.5 (Local)

2025-10-27T15:12:47.111Z,1761577967.111 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.7

2025-10-27T15:12:47.126Z,1761577967.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:47.132Z,1761577967.132 [DAT](INFO): DAT read: 15:12:45.8761 LVL= 32752, 32753, 31954, 32755, AGC= 47, IDX= 509,-0.05, 0.390,-0.898, 1.295, 0.829, PHS=-0.337,-1.682, 0.422, RAW= 170.9,  17.0, CAL= 171.5,  22.2, ROT= 338.5, -22.2

2025-10-27T15:12:47.134Z,1761577967.134 [DAT](INFO): got valid direction response:
 15:12:45.8761 LVL= 32752, 32753, 31954, 32755, AGC= 47, IDX= 509,-0.05, 0.390,-0.898, 1.295, 0.829, PHS=-0.337,-1.682, 0.422, RAW= 170.9,  17.0, CAL= 171.5,  22.2, ROT= 338.5, -22.2

2025-10-27T15:12:47.143Z,1761577967.143 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-27T15:12:47.145Z,1761577967.145 [DAT](INFO): direction in FSK: [0.861446,-0.339333,0.377841]
2025-10-27T15:12:47.145Z,1761577967.145 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:47.147Z,1761577967.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-10-27T15:12:47.150Z,1761577967.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 6.332094 m,
      bearing: 39.986622 deg,
      approach rate: -0.672589 m/s,
      LOS rate: -1.255876 deg/s,
      cmd heading: 47.399754 deg,
      new cmd heading: 45.626348 deg.

2025-10-27T15:12:47.151Z,1761577967.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796330 target range: 9.556776 and range: 6.50 m.
2025-10-27T15:12:47.162Z,1761577967.162 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.597031
2025-10-27T15:12:47.331Z,1761577967.331 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.765488
2025-10-27T15:12:47.467Z,1761577967.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611827,-0.779432,-0.134737],[0.790165,0.594468,0.149156],[-0.036160,-0.197722,0.979591]]
2025-10-27T15:12:47.515Z,1761577967.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.504810 s,
      deltaX: -0.300000 m,
      approachRate: -0.594283 m/s,
      rangeRepo size: 4

2025-10-27T15:12:47.518Z,1761577967.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.172109 m,
      bearing: 35.858873 deg,
      lat: 36.779331 deg,
      lon: -121.859550 deg,
      deltaT: 4.287850 s,
      deltaX: -3.384667 m,
      approachRate: -0.789362 m/s,
      posRepo size: 4

2025-10-27T15:12:47.518Z,1761577967.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.56 m.
2025-10-27T15:12:47.525Z,1761577967.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 6.031436 m,
      bearing: 39.402282 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 45.626350 deg,
      new cmd heading: 45.545322 deg.

2025-10-27T15:12:47.526Z,1761577967.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794916 target range: 9.556776 and range: 6.20 m.
2025-10-27T15:12:47.587Z,1761577967.587 [DAT](INFO): DAT read: Rx Time:15:12:46.3758 

2025-10-27T15:12:47.588Z,1761577967.588 [DAT](INFO): Rx dataTimestamp_ set to:1761577967.587482
2025-10-27T15:12:47.593Z,1761577967.593 [DAT](INFO): DAT read: Bearing 216.0, -27.8 (Local)

2025-10-27T15:12:47.594Z,1761577967.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.0, -27.8 (Local)

2025-10-27T15:12:47.616Z,1761577967.616 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed 0.6

2025-10-27T15:12:47.657Z,1761577967.657 [DAT](INFO): DAT read: 15:12:46.3758 LVL= 32752, 32753, 30130, 32755, AGC= 46, IDX= 506,-0.38,-1.085,-2.336,-0.118,-0.645, PHS=-0.337,-1.645, 0.483, RAW= 172.5,  15.9, CAL= 172.9,  20.4, ROT= 337.1, -20.4

2025-10-27T15:12:47.658Z,1761577967.658 [DAT](INFO): got valid direction response:
 15:12:46.3758 LVL= 32752, 32753, 30130, 32755, AGC= 46, IDX= 506,-0.38,-1.085,-2.336,-0.118,-0.645, PHS=-0.337,-1.645, 0.483, RAW= 172.5,  15.9, CAL= 172.9,  20.4, ROT= 337.1, -20.4

2025-10-27T15:12:47.659Z,1761577967.659 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-27T15:12:47.661Z,1761577967.661 [DAT](INFO): direction in FSK: [0.863410,-0.364719,0.348572]
2025-10-27T15:12:47.661Z,1761577967.661 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:47.674Z,1761577967.674 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.108456
2025-10-27T15:12:47.832Z,1761577967.832 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.266804
2025-10-27T15:12:47.927Z,1761577967.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614327,-0.777301,-0.135669],[0.788240,0.596759,0.150189],[-0.035780,-0.199205,0.979304]]
2025-10-27T15:12:48.013Z,1761577968.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.506606 s,
      deltaX: -0.300000 m,
      approachRate: -0.592176 m/s,
      rangeRepo size: 4

2025-10-27T15:12:48.019Z,1761577968.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.873484 m,
      bearing: 33.906629 deg,
      lat: 36.779331 deg,
      lon: -121.859555 deg,
      deltaT: 4.794456 s,
      deltaX: -3.683292 m,
      approachRate: -0.768240 m/s,
      posRepo size: 4

2025-10-27T15:12:48.020Z,1761577968.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.56 m.
2025-10-27T15:12:48.027Z,1761577968.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 5.686733 m,
      bearing: 38.884557 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 45.545320 deg,
      new cmd heading: 45.436217 deg.

2025-10-27T15:12:48.028Z,1761577968.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793012 target range: 9.556776 and range: 5.90 m.
2025-10-27T15:12:48.088Z,1761577968.088 [DAT](INFO): DAT read: Rx Time:15:12:46.8756 

2025-10-27T15:12:48.090Z,1761577968.090 [DAT](INFO): Rx dataTimestamp_ set to:1761577968.088566
2025-10-27T15:12:48.094Z,1761577968.094 [DAT](INFO): DAT read: Bearing 213.6, -28.5 (Local)

2025-10-27T15:12:48.095Z,1761577968.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.6, -28.5 (Local)

2025-10-27T15:12:48.108Z,1761577968.108 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed 0.7

2025-10-27T15:12:48.141Z,1761577968.141 [DAT](INFO): DAT read: 15:12:46.8756 LVL= 32752, 32753, 30034, 32755, AGC= 47, IDX= 504, 0.23, 1.054,-0.189, 2.075, 1.485, PHS=-0.329,-1.629, 0.546, RAW= 173.6,  14.8, CAL= 173.9,  18.6, ROT= 336.1, -18.6

2025-10-27T15:12:48.151Z,1761577968.151 [DAT](INFO): got valid direction response:
 15:12:46.8756 LVL= 32752, 32753, 30034, 32755, AGC= 47, IDX= 504, 0.23, 1.054,-0.189, 2.075, 1.485, PHS=-0.329,-1.629, 0.546, RAW= 173.6,  14.8, CAL= 173.9,  18.6, ROT= 336.1, -18.6

2025-10-27T15:12:48.151Z,1761577968.151 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-27T15:12:48.152Z,1761577968.152 [DAT](INFO): direction in FSK: [0.866501,-0.383980,0.318959]
2025-10-27T15:12:48.153Z,1761577968.153 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:48.177Z,1761577968.177 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.611538
2025-10-27T15:12:48.338Z,1761577968.338 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.772331
2025-10-27T15:12:48.400Z,1761577968.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617736,-0.774234,-0.137710],[0.785587,0.599686,0.152412],[-0.035420,-0.202334,0.978676]]
2025-10-27T15:12:48.452Z,1761577968.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.501084 s,
      deltaX: -0.300000 m,
      approachRate: -0.598702 m/s,
      rangeRepo size: 4

2025-10-27T15:12:48.454Z,1761577968.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.574832 m,
      bearing: 32.326112 deg,
      lat: 36.779334 deg,
      lon: -121.859555 deg,
      deltaT: 5.295540 s,
      deltaX: -3.981944 m,
      approachRate: -0.751943 m/s,
      posRepo size: 4

2025-10-27T15:12:48.460Z,1761577968.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.56 m.
2025-10-27T15:12:48.467Z,1761577968.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 5.385193 m,
      bearing: 38.390957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 45.436218 deg,
      new cmd heading: 45.340701 deg.

2025-10-27T15:12:48.468Z,1761577968.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791345 target range: 9.556776 and range: 5.60 m.
2025-10-27T15:12:48.592Z,1761577968.592 [DAT](INFO): DAT read: Rx Time:15:12:47.3753 

2025-10-27T15:12:48.594Z,1761577968.594 [DAT](INFO): Rx dataTimestamp_ set to:1761577968.592555
2025-10-27T15:12:48.597Z,1761577968.597 [DAT](INFO): DAT read: Bearing 210.6, -28.3 (Local)

2025-10-27T15:12:48.598Z,1761577968.598 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.6, -28.3 (Local)

2025-10-27T15:12:48.601Z,1761577968.601 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.6

2025-10-27T15:12:48.601Z,1761577968.601 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-10-27T15:12:48.602Z,1761577968.602 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.036858
2025-10-27T15:12:48.792Z,1761577968.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622578,-0.769894,-0.140211],[0.781775,0.603884,0.155407],[-0.034975,-0.206367,0.977849]]
2025-10-27T15:12:48.816Z,1761577968.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.503989 s,
      deltaX: -0.500000 m,
      approachRate: -0.992085 m/s,
      rangeRepo size: 4

2025-10-27T15:12:48.817Z,1761577968.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-10-27T15:12:48.820Z,1761577968.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 5.124443 m,
      bearing: 37.935262 deg,
      approach rate: -0.717019 m/s,
      LOS rate: -1.316831 deg/s,
      cmd heading: 45.340701 deg,
      new cmd heading: 43.904370 deg.

2025-10-27T15:12:48.821Z,1761577968.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766276 target range: 9.556776 and range: 5.10 m.
2025-10-27T15:12:48.844Z,1761577968.844 [DAT](INFO): DAT read: 15:12:47.3753 LVL= 32752, 29025, 23250, 32755, AGC= 43, IDX= 501, 0.05,-1.332,-2.581,-0.298,-0.945, PHS=-0.285,-1.591, 0.603, RAW= 173.7,  13.2, CAL= 173.9,  16.3, ROT= 336.1, -16.3

2025-10-27T15:12:48.845Z,1761577968.845 [DAT](INFO): got valid direction response:
 15:12:47.3753 LVL= 32752, 29025, 23250, 32755, AGC= 43, IDX= 501, 0.05,-1.332,-2.581,-0.298,-0.945, PHS=-0.285,-1.591, 0.603, RAW= 173.7,  13.2, CAL= 173.9,  16.3, ROT= 336.1, -16.3

2025-10-27T15:12:48.845Z,1761577968.845 [DAT](INFO): #Rx 80: Read direction message, but no range.
2025-10-27T15:12:48.846Z,1761577968.846 [DAT](INFO): direction in FSK: [0.877506,-0.388857,0.280667]
2025-10-27T15:12:48.850Z,1761577968.850 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.284760
2025-10-27T15:12:49.096Z,1761577969.096 [DAT](INFO): DAT read: Rx Time:15:12:47.8753 

2025-10-27T15:12:49.098Z,1761577969.098 [DAT](INFO): Rx dataTimestamp_ set to:1761577969.096979
2025-10-27T15:12:49.101Z,1761577969.101 [DAT](INFO): DAT read: Bearing 208.5, -27.9 (Local)

2025-10-27T15:12:49.101Z,1761577969.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.5, -27.9 (Local)

2025-10-27T15:12:49.103Z,1761577969.103 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.7

2025-10-27T15:12:49.121Z,1761577969.121 [DAT](INFO): DAT read: 15:12:47.8753 LVL= 32752, 28913, 26674, 32755, AGC= 41, IDX= 500,-0.05,-2.670, 2.313,-1.613,-2.308, PHS=-0.260,-1.618, 0.650, RAW= 173.5,  12.4, CAL= 173.6,  15.0, ROT= 336.4, -15.0

2025-10-27T15:12:49.127Z,1761577969.127 [DAT](INFO): got valid direction response:
 15:12:47.8753 LVL= 32752, 28913, 26674, 32755, AGC= 41, IDX= 500,-0.05,-2.670, 2.313,-1.613,-2.308, PHS=-0.260,-1.618, 0.650, RAW= 173.5,  12.4, CAL= 173.6,  15.0, ROT= 336.4, -15.0

2025-10-27T15:12:49.128Z,1761577969.128 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-27T15:12:49.130Z,1761577969.130 [DAT](INFO): direction in FSK: [0.885138,-0.386708,0.258819]
2025-10-27T15:12:49.131Z,1761577969.131 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:49.161Z,1761577969.161 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.595402
2025-10-27T15:12:49.299Z,1761577969.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.504424 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T15:12:49.301Z,1761577969.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.077065 m,
      bearing: 31.539606 deg,
      lat: 36.779335 deg,
      lon: -121.859555 deg,
      deltaT: 6.303953 s,
      deltaX: -4.479712 m,
      approachRate: -0.710619 m/s,
      posRepo size: 4

2025-10-27T15:12:49.302Z,1761577969.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.08 m. 9.56 m.
2025-10-27T15:12:49.309Z,1761577969.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 4.815323 m,
      bearing: 37.476773 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 43.904371 deg,
      new cmd heading: 43.800252 deg.

2025-10-27T15:12:49.310Z,1761577969.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764459 target range: 9.556776 and range: 5.10 m.
2025-10-27T15:12:49.344Z,1761577969.344 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.778946
2025-10-27T15:12:49.600Z,1761577969.600 [DAT](INFO): DAT read: Rx Time:15:12:48.3750 

2025-10-27T15:12:49.600Z,1761577969.600 [DAT](INFO): Rx dataTimestamp_ set to:1761577969.599750
2025-10-27T15:12:49.601Z,1761577969.601 [DAT](INFO): DAT read: Bearing 212.3, -27.7 (Local)

2025-10-27T15:12:49.602Z,1761577969.602 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.3, -27.7 (Local)

2025-10-27T15:12:49.604Z,1761577969.604 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.5

2025-10-27T15:12:49.604Z,1761577969.604 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-10-27T15:12:49.605Z,1761577969.605 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.039822
2025-10-27T15:12:49.664Z,1761577969.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633841,-0.759674,-0.145400],[0.772695,0.613541,0.162820],[-0.034481,-0.215551,0.975884]]
2025-10-27T15:12:49.702Z,1761577969.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:49.709Z,1761577969.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.502771 s,
      deltaX: -0.400000 m,
      approachRate: -0.795591 m/s,
      rangeRepo size: 4

2025-10-27T15:12:49.710Z,1761577969.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-10-27T15:12:49.716Z,1761577969.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 4.539291 m,
      bearing: 37.064830 deg,
      approach rate: -0.667261 m/s,
      LOS rate: -1.056349 deg/s,
      cmd heading: 43.800251 deg,
      new cmd heading: 42.489512 deg.

2025-10-27T15:12:49.717Z,1761577969.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741582 target range: 9.556776 and range: 4.70 m.
2025-10-27T15:12:49.853Z,1761577969.853 [DAT](INFO): DAT read: 15:12:48.3750 LVL= 31984, 24769, 24690, 32755, AGC= 37, IDX= 497,-0.02, 0.657,-0.666, 1.672, 1.083, PHS=-0.324,-1.704, 0.545, RAW= 172.5,  15.0, CAL= 172.9,  18.8, ROT= 337.1, -18.8

2025-10-27T15:12:49.857Z,1761577969.857 [DAT](INFO): got valid direction response:
 15:12:48.3750 LVL= 31984, 24769, 24690, 32755, AGC= 37, IDX= 497,-0.02, 0.657,-0.666, 1.672, 1.083, PHS=-0.324,-1.704, 0.545, RAW= 172.5,  15.0, CAL= 172.9,  18.8, ROT= 337.1, -18.8

2025-10-27T15:12:49.857Z,1761577969.857 [DAT](INFO): #Rx 83: Read direction message, but no range.
2025-10-27T15:12:49.858Z,1761577969.858 [DAT](INFO): direction in FSK: [0.872039,-0.368364,0.322266]
2025-10-27T15:12:49.862Z,1761577969.862 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.296371
2025-10-27T15:12:50.002Z,1761577970.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640408,-0.753753,-0.147425],[0.767268,0.619293,0.166662],[-0.034323,-0.219847,0.974930]]
2025-10-27T15:12:50.101Z,1761577970.101 [DAT](INFO): DAT read: Rx Time:15:12:48.8749 

2025-10-27T15:12:50.102Z,1761577970.102 [DAT](INFO): Rx dataTimestamp_ set to:1761577970.101306
2025-10-27T15:12:50.103Z,1761577970.103 [DAT](INFO): DAT read: Bearing 224.2, -29.1 (Local)

2025-10-27T15:12:50.103Z,1761577970.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.2, -29.1 (Local)

2025-10-27T15:12:50.105Z,1761577970.105 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.5

2025-10-27T15:12:50.107Z,1761577970.107 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-10-27T15:12:50.109Z,1761577970.109 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.543682
2025-10-27T15:12:50.212Z,1761577970.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.501556 s,
      deltaX: -0.300000 m,
      approachRate: -0.598138 m/s,
      rangeRepo size: 4

2025-10-27T15:12:50.214Z,1761577970.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.380210 m,
      bearing: 32.098999 deg,
      lat: 36.779335 deg,
      lon: -121.859555 deg,
      deltaT: 7.308280 s,
      deltaX: -5.176566 m,
      approachRate: -0.708315 m/s,
      posRepo size: 4

2025-10-27T15:12:50.242Z,1761577970.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.38 m. 9.56 m.
2025-10-27T15:12:50.249Z,1761577970.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 4.209603 m,
      bearing: 36.632487 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 42.489511 deg,
      new cmd heading: 42.380014 deg.

2025-10-27T15:12:50.250Z,1761577970.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739671 target range: 9.556776 and range: 4.40 m.
2025-10-27T15:12:50.358Z,1761577970.358 [DAT](INFO): DAT read: 15:12:48.8749 LVL= 30304, 25393, 22002, 32755, AGC= 36, IDX= 495, 0.20,-2.153, 2.915,-1.173,-1.532, PHS=-0.519,-1.791, 0.316, RAW= 173.2,  21.0, CAL= 173.7,  29.9, ROT= 336.3, -29.9

2025-10-27T15:12:50.359Z,1761577970.359 [DAT](INFO): got valid direction response:
 15:12:48.8749 LVL= 30304, 25393, 22002, 32755, AGC= 36, IDX= 495, 0.20,-2.153, 2.915,-1.173,-1.532, PHS=-0.519,-1.791, 0.316, RAW= 173.2,  21.0, CAL= 173.7,  29.9, ROT= 336.3, -29.9

2025-10-27T15:12:50.360Z,1761577970.360 [DAT](INFO): #Rx 85: Read direction message, but no range.
2025-10-27T15:12:50.360Z,1761577970.360 [DAT](INFO): direction in FSK: [0.793785,-0.348447,0.498488]
2025-10-27T15:12:50.364Z,1761577970.364 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=39.798744
2025-10-27T15:12:50.497Z,1761577970.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647580,-0.747384,-0.148517],[0.761210,0.625643,0.170676],[-0.034642,-0.223579,0.974070]]
2025-10-27T15:12:50.522Z,1761577970.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-10-27T15:12:50.525Z,1761577970.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 3.986610 m,
      bearing: 36.329211 deg,
      approach rate: -0.718216 m/s,
      LOS rate: -1.031426 deg/s,
      cmd heading: 42.380016 deg,
      new cmd heading: 41.419392 deg.

2025-10-27T15:12:50.526Z,1761577970.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722905 target range: 9.556776 and range: 4.40 m.
2025-10-27T15:12:50.605Z,1761577970.605 [DAT](INFO): DAT read: Rx Time:15:12:49.3746 

2025-10-27T15:12:50.606Z,1761577970.606 [DAT](INFO): Rx dataTimestamp_ set to:1761577970.605583
2025-10-27T15:12:50.609Z,1761577970.609 [DAT](INFO): DAT read: Bearing 238.6, -32.4 (Local)

2025-10-27T15:12:50.610Z,1761577970.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.6, -32.4 (Local)

2025-10-27T15:12:50.614Z,1761577970.614 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.5

2025-10-27T15:12:50.626Z,1761577970.626 [DAT](INFO): DAT read: 15:12:49.3746 LVL= 24560, 24769, 21842, 32755, AGC= 35, IDX= 508, 0.42, 1.315, 0.468, 2.334, 2.238, PHS=-0.821,-1.725, 0.051, RAW= 179.4,  29.8, CAL= 179.2,  42.5, ROT= 330.8, -42.5

2025-10-27T15:12:50.648Z,1761577970.648 [DAT](INFO): got valid direction response:
 15:12:49.3746 LVL= 24560, 24769, 21842, 32755, AGC= 35, IDX= 508, 0.42, 1.315, 0.468, 2.334, 2.238, PHS=-0.821,-1.725, 0.051, RAW= 179.4,  29.8, CAL= 179.2,  42.5, ROT= 330.8, -42.5

2025-10-27T15:12:50.649Z,1761577970.649 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-27T15:12:50.650Z,1761577970.650 [DAT](INFO): direction in FSK: [0.643586,-0.359688,0.675590]
2025-10-27T15:12:50.650Z,1761577970.650 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:50.664Z,1761577970.664 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.098717
2025-10-27T15:12:50.856Z,1761577970.856 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.290646
2025-10-27T15:12:51.111Z,1761577971.111 [DAT](INFO): DAT read: Rx Time:15:12:49.8747 

2025-10-27T15:12:51.112Z,1761577971.112 [DAT](INFO): Rx dataTimestamp_ set to:1761577971.111124
2025-10-27T15:12:51.114Z,1761577971.114 [DAT](INFO): DAT read: Bearing 248.9, -39.1 (Local)

2025-10-27T15:12:51.114Z,1761577971.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.9, -39.1 (Local)

2025-10-27T15:12:51.118Z,1761577971.118 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.5

2025-10-27T15:12:51.131Z,1761577971.131 [DAT](INFO): DAT read: 15:12:49.8747 LVL= 25968, 28817, 24626, 32755, AGC= 39, IDX= 507, 0.35,-1.500,-1.857,-0.274,-0.196, PHS=-1.202,-1.616,-0.122, RAW= 194.4,  37.9, CAL= 192.3,  48.8, ROT= 317.7, -48.8

2025-10-27T15:12:51.133Z,1761577971.133 [DAT](INFO): got valid direction response:
 15:12:49.8747 LVL= 25968, 28817, 24626, 32755, AGC= 39, IDX= 507, 0.35,-1.500,-1.857,-0.274,-0.196, PHS=-1.202,-1.616,-0.122, RAW= 194.4,  37.9, CAL= 192.3,  48.8, ROT= 317.7, -48.8

2025-10-27T15:12:51.134Z,1761577971.134 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-27T15:12:51.143Z,1761577971.143 [DAT](INFO): direction in FSK: [0.487187,-0.443306,0.752415]
2025-10-27T15:12:51.144Z,1761577971.144 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:51.155Z,1761577971.155 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.590130
2025-10-27T15:12:51.161Z,1761577971.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 1.009818 s,
      deltaX: -0.300000 m,
      approachRate: -0.297083 m/s,
      rangeRepo size: 4

2025-10-27T15:12:51.167Z,1761577971.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.882439 m,
      bearing: 33.006944 deg,
      lat: 36.779335 deg,
      lon: -121.859555 deg,
      deltaT: 7.812557 s,
      deltaX: -5.674337 m,
      approachRate: -0.726310 m/s,
      posRepo size: 4

2025-10-27T15:12:51.168Z,1761577971.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.56 m.
2025-10-27T15:12:51.171Z,1761577971.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 3.660490 m,
      bearing: 35.841896 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 41.419391 deg,
      new cmd heading: 41.280664 deg.

2025-10-27T15:12:51.176Z,1761577971.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.720483 target range: 9.556776 and range: 4.10 m.
2025-10-27T15:12:51.360Z,1761577971.360 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.794804
2025-10-27T15:12:51.495Z,1761577971.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669980,-0.727349,-0.148625],[0.741527,0.646073,0.180909],[-0.035562,-0.231415,0.972205]]
2025-10-27T15:12:51.536Z,1761577971.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-10-27T15:12:51.540Z,1761577971.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 3.338318 m,
      bearing: 35.429993 deg,
      approach rate: -0.859556 m/s,
      LOS rate: -1.205004 deg/s,
      cmd heading: 41.280663 deg,
      new cmd heading: 39.925962 deg.

2025-10-27T15:12:51.561Z,1761577971.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696840 target range: 9.556776 and range: 4.10 m.
2025-10-27T15:12:51.613Z,1761577971.613 [DAT](INFO): DAT read: Rx Time:15:12:50.3743 

2025-10-27T15:12:51.614Z,1761577971.614 [DAT](INFO): Rx dataTimestamp_ set to:1761577971.613729
2025-10-27T15:12:51.616Z,1761577971.616 [DAT](INFO): DAT read: Bearing 252.1, -50.2 (Local)

2025-10-27T15:12:51.617Z,1761577971.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.1, -50.2 (Local)

2025-10-27T15:12:51.621Z,1761577971.621 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.4

2025-10-27T15:12:51.632Z,1761577971.632 [DAT](INFO): DAT read: 15:12:50.3743 LVL= 18016, 20385, 15730, 32755, AGC= 37, IDX= 504, 0.47,-1.107,-1.021, 0.521, 0.406, PHS=-1.411,-1.382, 0.071, RAW= 211.0,  33.2, CAL= 208.0,  45.1, ROT= 302.0, -45.1

2025-10-27T15:12:51.634Z,1761577971.634 [DAT](INFO): got valid direction response:
 15:12:50.3743 LVL= 18016, 20385, 15730, 32755, AGC= 37, IDX= 504, 0.47,-1.107,-1.021, 0.521, 0.406, PHS=-1.411,-1.382, 0.071, RAW= 211.0,  33.2, CAL= 208.0,  45.1, ROT= 302.0, -45.1

2025-10-27T15:12:51.644Z,1761577971.644 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-27T15:12:51.645Z,1761577971.645 [DAT](INFO): direction in FSK: [0.374055,-0.598613,0.708340]
2025-10-27T15:12:51.645Z,1761577971.645 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:51.654Z,1761577971.654 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.088852
2025-10-27T15:12:51.864Z,1761577971.864 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.298779
2025-10-27T15:12:51.973Z,1761577971.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677491,-0.720436,-0.148251],[0.734661,0.652995,0.184042],[-0.035783,-0.233601,0.971674]]
2025-10-27T15:12:52.014Z,1761577972.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.502605 s,
      deltaX: -0.600000 m,
      approachRate: -1.193780 m/s,
      rangeRepo size: 4

2025-10-27T15:12:52.016Z,1761577972.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.484228 m,
      bearing: 1.410794 deg,
      lat: 36.779331 deg,
      lon: -121.859556 deg,
      deltaT: 8.820703 s,
      deltaX: -6.072548 m,
      approachRate: -0.688443 m/s,
      posRepo size: 4

2025-10-27T15:12:52.017Z,1761577972.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.56 m.
2025-10-27T15:12:52.036Z,1761577972.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 3.019813 m,
      bearing: 34.871083 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 39.925963 deg,
      new cmd heading: 39.822014 deg.

2025-10-27T15:12:52.037Z,1761577972.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695025 target range: 9.556776 and range: 3.50 m.
2025-10-27T15:12:52.119Z,1761577972.119 [DAT](INFO): DAT read: Rx Time:15:12:50.8743 

2025-10-27T15:12:52.120Z,1761577972.120 [DAT](INFO): Rx dataTimestamp_ set to:1761577972.118989
2025-10-27T15:12:52.122Z,1761577972.122 [DAT](INFO): DAT read: Bearing 309.3, -19.3 (Local)

2025-10-27T15:12:52.122Z,1761577972.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.3, -19.3 (Local)

2025-10-27T15:12:52.125Z,1761577972.125 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.4

2025-10-27T15:12:52.138Z,1761577972.138 [DAT](INFO): DAT read: 15:12:50.8743 LVL=  7984, 17073, 12818, 21107, AGC= 37, IDX= 507,-0.38, 2.534,-2.945, 2.906,-2.036, PHS=-1.611,-0.864,-1.385, RAW= 312.8,  64.1, CAL= 313.2,  66.6, ROT= 196.8, -66.6

2025-10-27T15:12:52.140Z,1761577972.140 [DAT](INFO): got valid direction response:
 15:12:50.8743 LVL=  7984, 17073, 12818, 21107, AGC= 37, IDX= 507,-0.38, 2.534,-2.945, 2.906,-2.036, PHS=-1.611,-0.864,-1.385, RAW= 312.8,  64.1, CAL= 313.2,  66.6, ROT= 196.8, -66.6

2025-10-27T15:12:52.141Z,1761577972.141 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-27T15:12:52.142Z,1761577972.142 [DAT](INFO): direction in FSK: [-0.380197,-0.114788,0.917755]
2025-10-27T15:12:52.142Z,1761577972.142 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:52.176Z,1761577972.176 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=41.610455
2025-10-27T15:12:52.368Z,1761577972.368 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=41.802658
2025-10-27T15:12:52.386Z,1761577972.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684781,-0.713752,-0.147083],[0.727849,0.659835,0.186692],[-0.036201,-0.234898,0.971346]]
2025-10-27T15:12:52.440Z,1761577972.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.505260 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T15:12:52.442Z,1761577972.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.484228 m,
      bearing: 210.025210 deg,
      lat: 36.779330 deg,
      lon: -121.859561 deg,
      deltaT: 9.325963 s,
      deltaX: -6.072548 m,
      approachRate: -0.651144 m/s,
      posRepo size: 4

2025-10-27T15:12:52.448Z,1761577972.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.56 m.
2025-10-27T15:12:52.450Z,1761577972.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.556776 m,
      nav range: 2.740786 m,
      bearing: 34.332440 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072470 deg/s,
      cmd heading: 39.822014 deg,
      new cmd heading: 39.729255 deg.

2025-10-27T15:12:52.455Z,1761577972.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693406 target range: 9.556776 and range: 3.50 m.
2025-10-27T15:12:52.622Z,1761577972.622 [DAT](INFO): DAT read: Rx Time:15:12:51.3740 

2025-10-27T15:12:52.623Z,1761577972.623 [DAT](INFO): Rx dataTimestamp_ set to:1761577972.622743
2025-10-27T15:12:52.625Z,1761577972.625 [DAT](INFO): DAT read: Bearing 242.6, -42.8 (Local)

2025-10-27T15:12:52.626Z,1761577972.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.6, -42.8 (Local)

2025-10-27T15:12:52.630Z,1761577972.630 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.4

2025-10-27T15:12:52.639Z,1761577972.639 [DAT](INFO): DAT read: 15:12:51.3740 LVL= 17360, 18129, 19058, 16995, AGC= 38, IDX= 502,-0.06, 1.552, 1.143,-3.004, 3.138, PHS=-1.484,-1.950, 0.097, RAW= 197.5,  32.4, CAL= 194.8,  44.4, ROT= 315.2, -44.4

2025-10-27T15:12:52.640Z,1761577972.640 [DAT](INFO): got valid direction response:
 15:12:51.3740 LVL= 17360, 18129, 19058, 16995, AGC= 38, IDX= 502,-0.06, 1.552, 1.143,-3.004, 3.138, PHS=-1.484,-1.950, 0.097, RAW= 197.5,  32.4, CAL= 194.8,  44.4, ROT= 315.2, -44.4

2025-10-27T15:12:52.641Z,1761577972.641 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-27T15:12:52.642Z,1761577972.642 [DAT](INFO): direction in FSK: [0.506969,-0.503442,0.699663]
2025-10-27T15:12:52.642Z,1761577972.642 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:52.654Z,1761577972.654 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.088348
2025-10-27T15:12:52.825Z,1761577972.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.503754 s,
      deltaX: -0.500000 m,
      approachRate: -0.992548 m/s,
      rangeRepo size: 4

2025-10-27T15:12:52.827Z,1761577972.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.986481 m,
      bearing: 15.503616 deg,
      lat: 36.779330 deg,
      lon: -121.859561 deg,
      deltaT: 9.829717 s,
      deltaX: -6.570295 m,
      approachRate: -0.668411 m/s,
      posRepo size: 4

2025-10-27T15:12:52.828Z,1761577972.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-10-27T15:12:52.828Z,1761577972.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-27T15:12:52.872Z,1761577972.872 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.306812
2025-10-27T15:12:53.126Z,1761577973.126 [DAT](INFO): DAT read: Rx Time:15:12:51.8740 

2025-10-27T15:12:53.126Z,1761577973.126 [DAT](INFO): Rx dataTimestamp_ set to:1761577973.126042
2025-10-27T15:12:53.129Z,1761577973.129 [DAT](INFO): DAT read: Bearing 315.2,  15.7 (Local)

2025-10-27T15:12:53.130Z,1761577973.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.2,  15.7 (Local)

2025-10-27T15:12:53.133Z,1761577973.133 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.3

2025-10-27T15:12:53.138Z,1761577973.138 [DAT](INFO): DAT read: 15:12:51.8740 LVL= 20656, 16145, 16770, 24563, AGC= 38, IDX= 504, 0.18,-1.383,-0.776,-2.537,-0.166, PHS=-1.115,-0.565,-2.414, RAW=  13.2,  41.3, CAL=  11.6,  46.6, ROT= 138.4, -46.6

2025-10-27T15:12:53.139Z,1761577973.139 [DAT](INFO): got valid direction response:
 15:12:51.8740 LVL= 20656, 16145, 16770, 24563, AGC= 38, IDX= 504, 0.18,-1.383,-0.776,-2.537,-0.166, PHS=-1.115,-0.565,-2.414, RAW=  13.2,  41.3, CAL=  11.6,  46.6, ROT= 138.4, -46.6

2025-10-27T15:12:53.139Z,1761577973.139 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-27T15:12:53.140Z,1761577973.140 [DAT](INFO): direction in FSK: [-0.513803,0.456175,0.726575]
2025-10-27T15:12:53.141Z,1761577973.141 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:53.144Z,1761577973.144 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=42.579140
2025-10-27T15:12:53.302Z,1761577973.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.503299 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T15:12:53.308Z,1761577973.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.986515 m,
      bearing: 175.431098 deg,
      lat: 36.779330 deg,
      lon: -121.859561 deg,
      deltaT: 0.503299 s,
      deltaX: 0.000034 m,
      approachRate: 0.000068 m/s,
      posRepo size: 4

2025-10-27T15:12:53.377Z,1761577973.377 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=42.811584
2025-10-27T15:12:53.617Z,1761577973.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707599,-0.691527,-0.145235],[0.705639,0.680744,0.196625],[-0.037104,-0.241615,0.969663]]
2025-10-27T15:12:53.630Z,1761577973.630 [DAT](INFO): DAT read: Rx Time:15:12:52.3739 

2025-10-27T15:12:53.632Z,1761577973.632 [DAT](INFO): Rx dataTimestamp_ set to:1761577973.630372
2025-10-27T15:12:53.634Z,1761577973.634 [DAT](INFO): DAT read: Bearing 274.0,  14.3 (Local)

2025-10-27T15:12:53.634Z,1761577973.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.0,  14.3 (Local)

2025-10-27T15:12:53.636Z,1761577973.636 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.2

2025-10-27T15:12:53.641Z,1761577973.641 [DAT](INFO): DAT read: 15:12:52.3739 LVL= 32752, 12305, 23602, 32627, AGC= 38, IDX= 502, 0.15, 2.177, 1.358, 1.212, 2.937, PHS=-0.658,-1.534,-1.769, RAW=  78.4,  54.1, CAL=  76.1,  59.3, ROT=  73.9, -59.3

2025-10-27T15:12:53.642Z,1761577973.642 [DAT](INFO): got valid direction response:
 15:12:52.3739 LVL= 32752, 12305, 23602, 32627, AGC= 38, IDX= 502, 0.15, 2.177, 1.358, 1.212, 2.937, PHS=-0.658,-1.534,-1.769, RAW=  78.4,  54.1, CAL=  76.1,  59.3, ROT=  73.9, -59.3

2025-10-27T15:12:53.642Z,1761577973.642 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-27T15:12:53.656Z,1761577973.656 [DAT](INFO): direction in FSK: [0.141581,0.490519,0.859852]
2025-10-27T15:12:53.656Z,1761577973.656 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:53.672Z,1761577973.672 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.106461
2025-10-27T15:12:53.707Z,1761577973.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504330 s,
      deltaX: -0.100000 m,
      approachRate: -0.198283 m/s,
      rangeRepo size: 4

2025-10-27T15:12:53.709Z,1761577973.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.886965 m,
      bearing: 121.115193 deg,
      lat: 36.779311 deg,
      lon: -121.859560 deg,
      deltaT: 0.504330 s,
      deltaX: -0.099550 m,
      approachRate: -0.197391 m/s,
      posRepo size: 4

2025-10-27T15:12:53.880Z,1761577973.880 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.314594
2025-10-27T15:12:54.064Z,1761577974.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714769,-0.684446,-0.143661],[0.698379,0.687661,0.198469],[-0.037051,-0.242189,0.969521]]
2025-10-27T15:12:54.120Z,1761577974.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:54.143Z,1761577974.143 [DAT](INFO): DAT read: Rx Time:15:12:52.8737 

2025-10-27T15:12:54.144Z,1761577974.144 [DAT](INFO): Rx dataTimestamp_ set to:1761577974.143604
2025-10-27T15:12:54.145Z,1761577974.145 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.1

2025-10-27T15:12:54.146Z,1761577974.146 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-10-27T15:12:54.147Z,1761577974.147 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.581310
2025-10-27T15:12:54.384Z,1761577974.384 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.818756
2025-10-27T15:12:54.467Z,1761577974.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721195,-0.677794,-0.143086],[0.691817,0.694098,0.199039],[-0.035591,-0.242536,0.969489]]
2025-10-27T15:12:54.487Z,1761577974.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.513232 s,
      deltaX: -0.300000 m,
      approachRate: -0.584531 m/s,
      rangeRepo size: 4

2025-10-27T15:12:54.636Z,1761577974.636 [DAT](INFO): DAT read: Rx Time:15:12:53.3735 

2025-10-27T15:12:54.637Z,1761577974.637 [DAT](INFO): Rx dataTimestamp_ set to:1761577974.636301
2025-10-27T15:12:54.638Z,1761577974.638 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:12:54.638Z,1761577974.638 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-10-27T15:12:54.639Z,1761577974.639 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.074177
2025-10-27T15:12:54.869Z,1761577974.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734104,-0.664918,-0.137753],[0.678394,0.709331,0.191394],[-0.029549,-0.233954,0.971799]]
2025-10-27T15:12:54.888Z,1761577974.888 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.322784
2025-10-27T15:12:54.908Z,1761577974.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.492697 s,
      deltaX: -0.300000 m,
      approachRate: -0.608893 m/s,
      rangeRepo size: 4

2025-10-27T15:12:55.140Z,1761577975.140 [DAT](INFO): DAT read: Rx Time:15:12:53.8735 

2025-10-27T15:12:55.141Z,1761577975.141 [DAT](INFO): Rx dataTimestamp_ set to:1761577975.140312
2025-10-27T15:12:55.142Z,1761577975.142 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.1

2025-10-27T15:12:55.142Z,1761577975.142 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-27T15:12:55.143Z,1761577975.143 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.578125
2025-10-27T15:12:55.278Z,1761577975.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751290,-0.647615,-0.127114],[0.659588,0.730221,0.178103],[-0.022521,-0.217650,0.975767]]
2025-10-27T15:12:55.342Z,1761577975.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504011 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T15:12:55.392Z,1761577975.392 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.827213
2025-10-27T15:12:55.644Z,1761577975.644 [DAT](INFO): DAT read: Rx Time:15:12:54.3735 

2025-10-27T15:12:55.645Z,1761577975.645 [DAT](INFO): Rx dataTimestamp_ set to:1761577975.644334
2025-10-27T15:12:55.646Z,1761577975.646 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:12:55.646Z,1761577975.646 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-10-27T15:12:55.647Z,1761577975.647 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.082138
2025-10-27T15:12:55.677Z,1761577975.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769190,-0.627474,-0.120929],[0.638794,0.749988,0.171639],[-0.017003,-0.209272,0.977710]]
2025-10-27T15:12:55.727Z,1761577975.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504022 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T15:12:55.896Z,1761577975.896 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.330589
2025-10-27T15:12:56.126Z,1761577976.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778346,-0.620904,-0.093035],[0.627757,0.767319,0.130930],[-0.009907,-0.160312,0.987017]]
2025-10-27T15:12:56.149Z,1761577976.149 [DAT](INFO): DAT read: Rx Time:15:12:54.8737 

2025-10-27T15:12:56.149Z,1761577976.149 [DAT](INFO): Rx dataTimestamp_ set to:1761577976.148741
2025-10-27T15:12:56.150Z,1761577976.150 [DAT](INFO): DAT read: Bearing 268.4,  22.7 (Local)

2025-10-27T15:12:56.151Z,1761577976.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.4,  22.7 (Local)

2025-10-27T15:12:56.153Z,1761577976.153 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-10-27T15:12:56.157Z,1761577976.157 [DAT](INFO): DAT read: 15:12:54.8737 LVL= 14160, 13953, 18882, 29043, AGC= 35, IDX= 500, 0.19,-1.275,-2.110,-2.315,-0.618, PHS=-0.555,-1.446,-1.740, RAW=  76.2,  51.0, CAL=  73.3,  56.6, ROT=  76.7, -56.6

2025-10-27T15:12:56.158Z,1761577976.158 [DAT](INFO): got valid direction response:
 15:12:54.8737 LVL= 14160, 13953, 18882, 29043, AGC= 35, IDX= 500, 0.19,-1.275,-2.110,-2.315,-0.618, PHS=-0.555,-1.446,-1.740, RAW=  76.2,  51.0, CAL=  73.3,  56.6, ROT=  76.7, -56.6

2025-10-27T15:12:56.159Z,1761577976.159 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-27T15:12:56.160Z,1761577976.160 [DAT](INFO): direction in FSK: [0.126638,0.535716,0.834848]
2025-10-27T15:12:56.160Z,1761577976.160 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:56.204Z,1761577976.204 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.638649
2025-10-27T15:12:56.280Z,1761577976.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504407 s,
      deltaX: 0.300000 m,
      approachRate: 0.594758 m/s,
      rangeRepo size: 4

2025-10-27T15:12:56.282Z,1761577976.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.588320 m,
      bearing: 117.459257 deg,
      lat: 36.779311 deg,
      lon: -121.859559 deg,
      deltaT: 2.518369 s,
      deltaX: -0.298645 m,
      approachRate: -0.118587 m/s,
      posRepo size: 4

2025-10-27T15:12:56.400Z,1761577976.400 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.834843
2025-10-27T15:12:56.508Z,1761577976.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779177,-0.623353,-0.065684],[0.626791,0.774199,0.088026],[-0.004018,-0.109758,0.993950]]
2025-10-27T15:12:56.525Z,1761577976.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:12:56.528Z,1761577976.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-10-27T15:12:56.654Z,1761577976.654 [DAT](INFO): DAT read: Rx Time:15:12:55.3736 

2025-10-27T15:12:56.654Z,1761577976.654 [DAT](INFO): Rx dataTimestamp_ set to:1761577976.654036
2025-10-27T15:12:56.656Z,1761577976.656 [DAT](INFO): DAT read: Bearing 270.8,  23.7 (Local)

2025-10-27T15:12:56.657Z,1761577976.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.8,  23.7 (Local)

2025-10-27T15:12:56.659Z,1761577976.659 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:12:56.665Z,1761577976.665 [DAT](INFO): DAT read: 15:12:55.3736 LVL= 18592, 16129, 17906, 30867, AGC= 36, IDX= 499, 0.26,-0.843,-1.548,-1.775,-0.056, PHS=-0.684,-1.447,-1.763, RAW=  73.4,  55.1, CAL=  70.6,  59.9, ROT=  79.4, -59.9

2025-10-27T15:12:56.667Z,1761577976.667 [DAT](INFO): got valid direction response:
 15:12:55.3736 LVL= 18592, 16129, 17906, 30867, AGC= 36, IDX= 499, 0.26,-0.843,-1.548,-1.775,-0.056, PHS=-0.684,-1.447,-1.763, RAW=  73.4,  55.1, CAL=  70.6,  59.9, ROT=  79.4, -59.9

2025-10-27T15:12:56.668Z,1761577976.668 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-27T15:12:56.669Z,1761577976.669 [DAT](INFO): direction in FSK: [0.092254,0.492953,0.865151]
2025-10-27T15:12:56.669Z,1761577976.669 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:56.691Z,1761577976.691 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.121124
2025-10-27T15:12:56.904Z,1761577976.904 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.338764
2025-10-27T15:12:56.916Z,1761577976.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771790,-0.633826,-0.051027],[0.635860,0.769868,0.054637],[0.004654,-0.074614,0.997202]]
2025-10-27T15:12:56.981Z,1761577976.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.505295 s,
      deltaX: -0.200000 m,
      approachRate: -0.395808 m/s,
      rangeRepo size: 4

2025-10-27T15:12:56.983Z,1761577976.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.389220 m,
      bearing: 120.451575 deg,
      lat: 36.779325 deg,
      lon: -121.859540 deg,
      deltaT: 0.505295 s,
      deltaX: -0.199100 m,
      approachRate: -0.394027 m/s,
      posRepo size: 4

2025-10-27T15:12:57.157Z,1761577977.157 [DAT](INFO): DAT read: Rx Time:15:12:55.8737 

2025-10-27T15:12:57.158Z,1761577977.158 [DAT](INFO): Rx dataTimestamp_ set to:1761577977.157648
2025-10-27T15:12:57.160Z,1761577977.160 [DAT](INFO): DAT read: Bearing 270.2,  23.2 (Local)

2025-10-27T15:12:57.161Z,1761577977.161 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.2,  23.2 (Local)

2025-10-27T15:12:57.164Z,1761577977.164 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-10-27T15:12:57.170Z,1761577977.170 [DAT](INFO): DAT read: 15:12:55.8737 LVL= 17232, 19761, 19362, 32755, AGC= 37, IDX= 500, 0.38, 0.472,-0.292,-0.461, 1.294, PHS=-0.720,-1.541,-1.799, RAW=  76.8,  55.8, CAL=  74.4,  60.7, ROT=  75.6, -60.7

2025-10-27T15:12:57.178Z,1761577977.178 [DAT](INFO): got valid direction response:
 15:12:55.8737 LVL= 17232, 19761, 19362, 32755, AGC= 37, IDX= 500, 0.38, 0.472,-0.292,-0.461, 1.294, PHS=-0.720,-1.541,-1.799, RAW=  76.8,  55.8, CAL=  74.4,  60.7, ROT=  75.6, -60.7

2025-10-27T15:12:57.178Z,1761577977.178 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-27T15:12:57.193Z,1761577977.193 [DAT](INFO): direction in FSK: [0.121704,0.474008,0.872069]
2025-10-27T15:12:57.194Z,1761577977.194 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:57.205Z,1761577977.205 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.639893
2025-10-27T15:12:57.408Z,1761577977.408 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.842716
2025-10-27T15:12:57.410Z,1761577977.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744999,-0.662767,-0.075611],[0.666665,0.743681,0.049968],[0.023113,-0.087634,0.995885]]
2025-10-27T15:12:57.525Z,1761577977.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503612 s,
      deltaX: 0.200000 m,
      approachRate: 0.397131 m/s,
      rangeRepo size: 4

2025-10-27T15:12:57.528Z,1761577977.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.588321 m,
      bearing: 121.235883 deg,
      lat: 36.779325 deg,
      lon: -121.859530 deg,
      deltaT: 0.503612 s,
      deltaX: 0.199101 m,
      approachRate: 0.395347 m/s,
      posRepo size: 4

2025-10-27T15:12:57.528Z,1761577977.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.60 m.
2025-10-27T15:12:57.662Z,1761577977.662 [DAT](INFO): DAT read: Rx Time:15:12:56.3736 

2025-10-27T15:12:57.663Z,1761577977.663 [DAT](INFO): Rx dataTimestamp_ set to:1761577977.662120
2025-10-27T15:12:57.665Z,1761577977.665 [DAT](INFO): DAT read: Bearing 269.8,  17.0 (Local)

2025-10-27T15:12:57.665Z,1761577977.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.8,  17.0 (Local)

2025-10-27T15:12:57.668Z,1761577977.668 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:12:57.673Z,1761577977.673 [DAT](INFO): DAT read: 15:12:56.3736 LVL= 19920, 17825, 23074, 30435, AGC= 38, IDX= 500,-0.19, 1.951, 1.215, 1.184, 2.955, PHS=-0.902,-1.695,-1.815, RAW=  83.1,  61.2, CAL=  81.7,  65.5, ROT=  68.3, -65.5

2025-10-27T15:12:57.674Z,1761577977.674 [DAT](INFO): got valid direction response:
 15:12:56.3736 LVL= 19920, 17825, 23074, 30435, AGC= 38, IDX= 500,-0.19, 1.951, 1.215, 1.184, 2.955, PHS=-0.902,-1.695,-1.815, RAW=  83.1,  61.2, CAL=  81.7,  65.5, ROT=  68.3, -65.5

2025-10-27T15:12:57.675Z,1761577977.675 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-27T15:12:57.676Z,1761577977.676 [DAT](INFO): direction in FSK: [0.153331,0.385305,0.909961]
2025-10-27T15:12:57.676Z,1761577977.676 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:57.680Z,1761577977.680 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.114498
2025-10-27T15:12:57.858Z,1761577977.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739116,-0.667668,-0.089030],[0.672911,0.737787,0.053495],[0.029968,-0.099448,0.994591]]
2025-10-27T15:12:57.912Z,1761577977.912 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.346973
2025-10-27T15:12:57.929Z,1761577977.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504472 s,
      deltaX: -0.200000 m,
      approachRate: -0.396454 m/s,
      rangeRepo size: 4

2025-10-27T15:12:57.936Z,1761577977.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.389220 m,
      bearing: 117.283016 deg,
      lat: 36.779329 deg,
      lon: -121.859529 deg,
      deltaT: 0.504472 s,
      deltaX: -0.199101 m,
      approachRate: -0.394673 m/s,
      posRepo size: 4

2025-10-27T15:12:57.936Z,1761577977.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.40 m.
2025-10-27T15:12:58.164Z,1761577978.164 [DAT](INFO): DAT read: Rx Time:15:12:56.8736 

2025-10-27T15:12:58.165Z,1761577978.165 [DAT](INFO): Rx dataTimestamp_ set to:1761577978.164635
2025-10-27T15:12:58.166Z,1761577978.166 [DAT](INFO): DAT read: Bearing 262.2,  13.8 (Local)

2025-10-27T15:12:58.166Z,1761577978.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.2,  13.8 (Local)

2025-10-27T15:12:58.169Z,1761577978.169 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:12:58.173Z,1761577978.173 [DAT](INFO): DAT read: 15:12:56.8736 LVL= 16256, 14113, 23538, 27971, AGC= 37, IDX= 500,-0.07, 2.312, 1.278, 1.580,-2.931, PHS=-0.938,-2.030,-1.816, RAW= 100.6,  59.4, CAL=  99.4,  63.4, ROT=  50.6, -63.4

2025-10-27T15:12:58.174Z,1761577978.174 [DAT](INFO): got valid direction response:
 15:12:56.8736 LVL= 16256, 14113, 23538, 27971, AGC= 37, IDX= 500,-0.07, 2.312, 1.278, 1.580,-2.931, PHS=-0.938,-2.030,-1.816, RAW= 100.6,  59.4, CAL=  99.4,  63.4, ROT=  50.6, -63.4

2025-10-27T15:12:58.175Z,1761577978.175 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-27T15:12:58.176Z,1761577978.176 [DAT](INFO): direction in FSK: [0.284206,0.345998,0.894154]
2025-10-27T15:12:58.176Z,1761577978.176 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:58.180Z,1761577978.180 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.614429
2025-10-27T15:12:58.262Z,1761577978.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741810,-0.661374,-0.110916],[0.669785,0.738896,0.073625],[0.033262,-0.128905,0.991099]]
2025-10-27T15:12:58.340Z,1761577978.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.502515 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T15:12:58.342Z,1761577978.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.389225 m,
      bearing: 102.895200 deg,
      lat: 36.779330 deg,
      lon: -121.859528 deg,
      deltaT: 0.502515 s,
      deltaX: 0.000005 m,
      approachRate: 0.000009 m/s,
      posRepo size: 4

2025-10-27T15:12:58.416Z,1761577978.416 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.850868
2025-10-27T15:12:58.669Z,1761577978.669 [DAT](INFO): DAT read: Rx Time:15:12:57.3735 

2025-10-27T15:12:58.669Z,1761577978.669 [DAT](INFO): Rx dataTimestamp_ set to:1761577978.668709
2025-10-27T15:12:58.670Z,1761577978.670 [DAT](INFO): DAT read: Bearing 254.7,  13.1 (Local)

2025-10-27T15:12:58.671Z,1761577978.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.7,  13.1 (Local)

2025-10-27T15:12:58.673Z,1761577978.673 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:12:58.677Z,1761577978.677 [DAT](INFO): DAT read: 15:12:57.3735 LVL= 16368, 13521, 20450, 22771, AGC= 38, IDX= 499, 0.05, 1.697, 0.222, 0.821, 2.626, PHS=-0.827,-2.359,-1.849, RAW= 109.1,  52.8, CAL= 107.2,  57.8, ROT=  42.8, -57.8

2025-10-27T15:12:58.678Z,1761577978.678 [DAT](INFO): got valid direction response:
 15:12:57.3735 LVL= 16368, 13521, 20450, 22771, AGC= 38, IDX= 499, 0.05, 1.697, 0.222, 0.821, 2.626, PHS=-0.827,-2.359,-1.849, RAW= 109.1,  52.8, CAL= 107.2,  57.8, ROT=  42.8, -57.8

2025-10-27T15:12:58.679Z,1761577978.679 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-27T15:12:58.696Z,1761577978.696 [DAT](INFO): direction in FSK: [0.390987,0.362058,0.846193]
2025-10-27T15:12:58.696Z,1761577978.696 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:58.700Z,1761577978.700 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.134670
2025-10-27T15:12:58.784Z,1761577978.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755177,-0.642296,-0.131007],[0.654546,0.749734,0.097300],[0.035725,-0.159229,0.986595]]
2025-10-27T15:12:58.845Z,1761577978.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504074 s,
      deltaX: -0.100000 m,
      approachRate: -0.198384 m/s,
      rangeRepo size: 4

2025-10-27T15:12:58.852Z,1761577978.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.289673 m,
      bearing: 94.514644 deg,
      lat: 36.779333 deg,
      lon: -121.859527 deg,
      deltaT: 0.504074 s,
      deltaX: -0.099551 m,
      approachRate: -0.197493 m/s,
      posRepo size: 4

2025-10-27T15:12:58.920Z,1761577978.920 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.354820
2025-10-27T15:12:59.170Z,1761577979.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770674,-0.623001,-0.133913],[0.636270,0.763861,0.108061],[0.034969,-0.168484,0.985084]]
2025-10-27T15:12:59.173Z,1761577979.173 [DAT](INFO): DAT read: Rx Time:15:12:57.8736 

2025-10-27T15:12:59.173Z,1761577979.173 [DAT](INFO): Rx dataTimestamp_ set to:1761577979.172776
2025-10-27T15:12:59.174Z,1761577979.174 [DAT](INFO): DAT read: Bearing 259.8,  14.9 (Local)

2025-10-27T15:12:59.175Z,1761577979.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.8,  14.9 (Local)

2025-10-27T15:12:59.177Z,1761577979.177 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:12:59.181Z,1761577979.181 [DAT](INFO): DAT read: 15:12:57.8736 LVL= 13648, 16097, 20818, 21219, AGC= 37, IDX= 500, 0.15, 3.009, 1.853, 2.058,-2.402, PHS=-0.770,-1.983,-1.867, RAW=  95.0,  54.6, CAL=  93.9,  59.6, ROT=  56.1, -59.6

2025-10-27T15:12:59.182Z,1761577979.182 [DAT](INFO): got valid direction response:
 15:12:57.8736 LVL= 13648, 16097, 20818, 21219, AGC= 37, IDX= 500, 0.15, 3.009, 1.853, 2.058,-2.402, PHS=-0.770,-1.983,-1.867, RAW=  95.0,  54.6, CAL=  93.9,  59.6, ROT=  56.1, -59.6

2025-10-27T15:12:59.183Z,1761577979.183 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-27T15:12:59.184Z,1761577979.184 [DAT](INFO): direction in FSK: [0.282238,0.420014,0.862514]
2025-10-27T15:12:59.184Z,1761577979.184 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:59.204Z,1761577979.204 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.638622
2025-10-27T15:12:59.320Z,1761577979.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504067 s,
      deltaX: 0.100000 m,
      approachRate: 0.198387 m/s,
      rangeRepo size: 4

2025-10-27T15:12:59.322Z,1761577979.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.389235 m,
      bearing: 105.053905 deg,
      lat: 36.779336 deg,
      lon: -121.859525 deg,
      deltaT: 0.504067 s,
      deltaX: 0.099562 m,
      approachRate: 0.197518 m/s,
      posRepo size: 4

2025-10-27T15:12:59.424Z,1761577979.424 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.858860
2025-10-27T15:12:59.667Z,1761577979.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781237,-0.611637,-0.124775],[0.623496,0.774283,0.108341],[0.030346,-0.162437,0.986252]]
2025-10-27T15:12:59.677Z,1761577979.677 [DAT](INFO): DAT read: Rx Time:15:12:58.3735 

2025-10-27T15:12:59.677Z,1761577979.677 [DAT](INFO): Rx dataTimestamp_ set to:1761577979.676796
2025-10-27T15:12:59.678Z,1761577979.678 [DAT](INFO): DAT read: Bearing 259.8,  14.2 (Local)

2025-10-27T15:12:59.679Z,1761577979.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.8,  14.2 (Local)

2025-10-27T15:12:59.681Z,1761577979.681 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:12:59.685Z,1761577979.685 [DAT](INFO): DAT read: 15:12:58.3735 LVL= 13424, 16369, 19762, 20275, AGC= 37, IDX= 499, 0.32, 1.311, 0.227, 0.405, 2.238, PHS=-0.826,-1.966,-1.877, RAW=  94.0,  56.4, CAL=  93.0,  61.1, ROT=  57.0, -61.1

2025-10-27T15:12:59.687Z,1761577979.687 [DAT](INFO): got valid direction response:
 15:12:58.3735 LVL= 13424, 16369, 19762, 20275, AGC= 37, IDX= 499, 0.32, 1.311, 0.227, 0.405, 2.238, PHS=-0.826,-1.966,-1.877, RAW=  94.0,  56.4, CAL=  93.0,  61.1, ROT=  57.0, -61.1

2025-10-27T15:12:59.687Z,1761577979.687 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-27T15:12:59.688Z,1761577979.688 [DAT](INFO): direction in FSK: [0.263214,0.405315,0.875465]
2025-10-27T15:12:59.688Z,1761577979.688 [DAT](INFO): publishing direction and range info
2025-10-27T15:12:59.693Z,1761577979.693 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.127415
2025-10-27T15:12:59.772Z,1761577979.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504020 s,
      deltaX: -0.100000 m,
      approachRate: -0.198405 m/s,
      rangeRepo size: 4

2025-10-27T15:12:59.774Z,1761577979.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.289684 m,
      bearing: 104.816009 deg,
      lat: 36.779336 deg,
      lon: -121.859523 deg,
      deltaT: 0.504020 s,
      deltaX: -0.099552 m,
      approachRate: -0.197515 m/s,
      posRepo size: 4

2025-10-27T15:12:59.928Z,1761577979.928 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.362713
2025-10-27T15:13:00.181Z,1761577980.181 [DAT](INFO): DAT read: Rx Time:15:12:58.8737 

2025-10-27T15:13:00.181Z,1761577980.181 [DAT](INFO): Rx dataTimestamp_ set to:1761577980.180807
2025-10-27T15:13:00.182Z,1761577980.182 [DAT](INFO): DAT read: Bearing 264.6,  11.5 (Local)

2025-10-27T15:13:00.183Z,1761577980.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.6,  11.5 (Local)

2025-10-27T15:13:00.185Z,1761577980.185 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-10-27T15:13:00.189Z,1761577980.189 [DAT](INFO): DAT read: 15:12:58.8737 LVL= 15216, 16081, 23458, 23235, AGC= 38, IDX= 501,-0.44, 0.543,-0.214,-0.169, 1.645, PHS=-1.000,-1.813,-1.857, RAW=  87.4,  63.1, CAL=  86.5,  67.1, ROT=  63.5, -67.1

2025-10-27T15:13:00.191Z,1761577980.191 [DAT](INFO): got valid direction response:
 15:12:58.8737 LVL= 15216, 16081, 23458, 23235, AGC= 38, IDX= 501,-0.44, 0.543,-0.214,-0.169, 1.645, PHS=-1.000,-1.813,-1.857, RAW=  87.4,  63.1, CAL=  86.5,  67.1, ROT=  63.5, -67.1

2025-10-27T15:13:00.191Z,1761577980.191 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-27T15:13:00.192Z,1761577980.192 [DAT](INFO): direction in FSK: [0.173626,0.348240,0.921185]
2025-10-27T15:13:00.192Z,1761577980.192 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:00.240Z,1761577980.240 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.675140
2025-10-27T15:13:00.257Z,1761577980.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789068,-0.608735,-0.082544],[0.614235,0.783864,0.090953],[0.009337,-0.122470,0.992428]]
2025-10-27T15:13:00.353Z,1761577980.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504011 s,
      deltaX: 0.300000 m,
      approachRate: 0.595225 m/s,
      rangeRepo size: 4

2025-10-27T15:13:00.359Z,1761577980.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.588331 m,
      bearing: 108.050553 deg,
      lat: 36.779337 deg,
      lon: -121.859523 deg,
      deltaT: 0.504011 s,
      deltaX: 0.298647 m,
      approachRate: 0.592540 m/s,
      posRepo size: 4

2025-10-27T15:13:00.437Z,1761577980.437 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.871445
2025-10-27T15:13:00.670Z,1761577980.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:13:00.689Z,1761577980.689 [DAT](INFO): DAT read: Rx Time:15:12:59.3736 

2025-10-27T15:13:00.689Z,1761577980.689 [DAT](INFO): Rx dataTimestamp_ set to:1761577980.688706
2025-10-27T15:13:00.690Z,1761577980.690 [DAT](INFO): DAT read: Bearing 266.1,  13.6 (Local)

2025-10-27T15:13:00.691Z,1761577980.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.1,  13.6 (Local)

2025-10-27T15:13:00.693Z,1761577980.693 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:00.697Z,1761577980.697 [DAT](INFO): DAT read: 15:12:59.3736 LVL= 17488, 16033, 24050, 26595, AGC= 38, IDX= 500,-0.29,-0.296,-0.969,-1.007, 0.784, PHS=-0.978,-1.708,-1.835, RAW=  82.1,  63.4, CAL=  80.8,  67.4, ROT=  69.2, -67.4

2025-10-27T15:13:00.698Z,1761577980.698 [DAT](INFO): got valid direction response:
 15:12:59.3736 LVL= 17488, 16033, 24050, 26595, AGC= 38, IDX= 500,-0.29,-0.296,-0.969,-1.007, 0.784, PHS=-0.978,-1.708,-1.835, RAW=  82.1,  63.4, CAL=  80.8,  67.4, ROT=  69.2, -67.4

2025-10-27T15:13:00.699Z,1761577980.699 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-27T15:13:00.700Z,1761577980.700 [DAT](INFO): direction in FSK: [0.136466,0.359249,0.923210]
2025-10-27T15:13:00.700Z,1761577980.700 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:00.704Z,1761577980.704 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.138592
2025-10-27T15:13:00.944Z,1761577980.944 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.378510
2025-10-27T15:13:01.123Z,1761577981.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805441,-0.592261,-0.022164],[0.592112,0.802481,0.073667],[-0.025844,-0.072458,0.997037]]
2025-10-27T15:13:01.188Z,1761577981.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.507899 s,
      deltaX: -0.200000 m,
      approachRate: -0.393779 m/s,
      rangeRepo size: 4

2025-10-27T15:13:01.190Z,1761577981.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.389225 m,
      bearing: 105.754856 deg,
      lat: 36.779337 deg,
      lon: -121.859523 deg,
      deltaT: 0.507899 s,
      deltaX: -0.199106 m,
      approachRate: -0.392018 m/s,
      posRepo size: 4

2025-10-27T15:13:01.193Z,1761577981.193 [DAT](INFO): DAT read: Rx Time:15:12:59.8737 

2025-10-27T15:13:01.193Z,1761577981.193 [DAT](INFO): Rx dataTimestamp_ set to:1761577981.192795
2025-10-27T15:13:01.194Z,1761577981.194 [DAT](INFO): DAT read: Bearing 263.2,  18.6 (Local)

2025-10-27T15:13:01.195Z,1761577981.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.2,  18.6 (Local)

2025-10-27T15:13:01.197Z,1761577981.197 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-10-27T15:13:01.201Z,1761577981.201 [DAT](INFO): DAT read: 15:12:59.8737 LVL= 19232, 19441, 21714, 28563, AGC= 38, IDX= 501,-0.27, 2.976, 2.190, 2.135,-2.373, PHS=-0.832,-1.675,-1.820, RAW=  82.2,  58.9, CAL=  80.7,  63.5, ROT=  69.3, -63.5

2025-10-27T15:13:01.202Z,1761577981.202 [DAT](INFO): got valid direction response:
 15:12:59.8737 LVL= 19232, 19441, 21714, 28563, AGC= 38, IDX= 501,-0.27, 2.976, 2.190, 2.135,-2.373, PHS=-0.832,-1.675,-1.820, RAW=  82.2,  58.9, CAL=  80.7,  63.5, ROT=  69.3, -63.5

2025-10-27T15:13:01.203Z,1761577981.203 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-27T15:13:01.204Z,1761577981.204 [DAT](INFO): direction in FSK: [0.157720,0.417393,0.894934]
2025-10-27T15:13:01.204Z,1761577981.204 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:01.212Z,1761577981.212 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.646606
2025-10-27T15:13:01.404Z,1761577981.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:13:01.444Z,1761577981.444 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.878918
2025-10-27T15:13:01.628Z,1761577981.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504089 s,
      deltaX: 0.200000 m,
      approachRate: 0.396755 m/s,
      rangeRepo size: 4

2025-10-27T15:13:01.630Z,1761577981.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.588327 m,
      bearing: 105.815479 deg,
      lat: 36.779337 deg,
      lon: -121.859524 deg,
      deltaT: 0.504089 s,
      deltaX: 0.199102 m,
      approachRate: 0.394974 m/s,
      posRepo size: 4

2025-10-27T15:13:01.697Z,1761577981.697 [DAT](INFO): DAT read: Rx Time:15:13:00.3736 

2025-10-27T15:13:01.698Z,1761577981.698 [DAT](INFO): Rx dataTimestamp_ set to:1761577981.697513
2025-10-27T15:13:01.700Z,1761577981.700 [DAT](INFO): DAT read: Bearing 259.5,  23.8 (Local)

2025-10-27T15:13:01.701Z,1761577981.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.5,  23.8 (Local)

2025-10-27T15:13:01.704Z,1761577981.704 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:01.711Z,1761577981.711 [DAT](INFO): DAT read: 15:13:00.3736 LVL= 19808, 25313, 19330, 32211, AGC= 39, IDX= 500,-0.22,-3.027, 2.349, 2.266,-2.205, PHS=-0.720,-1.685,-1.856, RAW=  81.9,  54.9, CAL=  80.1,  60.1, ROT=  69.9, -60.1

2025-10-27T15:13:01.713Z,1761577981.713 [DAT](INFO): got valid direction response:
 15:13:00.3736 LVL= 19808, 25313, 19330, 32211, AGC= 39, IDX= 500,-0.22,-3.027, 2.349, 2.266,-2.205, PHS=-0.720,-1.685,-1.856, RAW=  81.9,  54.9, CAL=  80.1,  60.1, ROT=  69.9, -60.1

2025-10-27T15:13:01.713Z,1761577981.713 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-27T15:13:01.715Z,1761577981.715 [DAT](INFO): direction in FSK: [0.171310,0.468127,0.866897]
2025-10-27T15:13:01.716Z,1761577981.716 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:01.722Z,1761577981.722 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.156429
2025-10-27T15:13:01.917Z,1761577981.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839830,-0.540615,0.049206],[0.539362,0.841258,0.037077],[-0.061440,-0.004599,0.998100]]
2025-10-27T15:13:01.948Z,1761577981.948 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.382710
2025-10-27T15:13:01.972Z,1761577981.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504718 s,
      deltaX: -0.200000 m,
      approachRate: -0.396260 m/s,
      rangeRepo size: 4

2025-10-27T15:13:01.974Z,1761577981.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.389219 m,
      bearing: 97.315813 deg,
      lat: 36.779337 deg,
      lon: -121.859526 deg,
      deltaT: 0.504718 s,
      deltaX: -0.199108 m,
      approachRate: -0.394493 m/s,
      posRepo size: 4

2025-10-27T15:13:02.201Z,1761577982.201 [DAT](INFO): DAT read: Rx Time:15:13:00.8736 

2025-10-27T15:13:02.202Z,1761577982.202 [DAT](INFO): Rx dataTimestamp_ set to:1761577982.201277
2025-10-27T15:13:02.203Z,1761577982.203 [DAT](INFO): DAT read: Bearing 257.5,  30.1 (Local)

2025-10-27T15:13:02.203Z,1761577982.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.5,  30.1 (Local)

2025-10-27T15:13:02.205Z,1761577982.205 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed -0.1

2025-10-27T15:13:02.210Z,1761577982.210 [DAT](INFO): DAT read: 15:13:00.8736 LVL= 27968, 32753, 24050, 32755, AGC= 41, IDX= 500,-0.16,-1.559,-2.608,-2.828,-0.780, PHS=-0.678,-1.784,-2.092, RAW=  78.0,  51.3, CAL=  75.4,  56.9, ROT=  74.6, -56.9

2025-10-27T15:13:02.217Z,1761577982.217 [DAT](INFO): got valid direction response:
 15:13:00.8736 LVL= 27968, 32753, 24050, 32755, AGC= 41, IDX= 500,-0.16,-1.559,-2.608,-2.828,-0.780, PHS=-0.678,-1.784,-2.092, RAW=  78.0,  51.3, CAL=  75.4,  56.9, ROT=  74.6, -56.9

2025-10-27T15:13:02.217Z,1761577982.217 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-27T15:13:02.218Z,1761577982.218 [DAT](INFO): direction in FSK: [0.145021,0.526494,0.837719]
2025-10-27T15:13:02.219Z,1761577982.219 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:02.251Z,1761577982.251 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.685337
2025-10-27T15:13:02.332Z,1761577982.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856649,-0.510432,0.074916],[0.510332,0.859698,0.021925],[-0.075597,0.019450,0.996949]]
2025-10-27T15:13:02.407Z,1761577982.407 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:13:02.409Z,1761577982.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503764 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T15:13:02.415Z,1761577982.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.389219 m,
      bearing: 98.530645 deg,
      lat: 36.779337 deg,
      lon: -121.859527 deg,
      deltaT: 0.503764 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-27T15:13:02.452Z,1761577982.452 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.886845
2025-10-27T15:13:02.704Z,1761577982.704 [DAT](INFO): DAT read: Rx Time:15:13:01.3735 

2025-10-27T15:13:02.705Z,1761577982.705 [DAT](INFO): Rx dataTimestamp_ set to:1761577982.704248
2025-10-27T15:13:02.706Z,1761577982.706 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:02.706Z,1761577982.706 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-10-27T15:13:02.707Z,1761577982.707 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.142075
2025-10-27T15:13:02.863Z,1761577982.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871310,-0.483054,0.086476],[0.483251,0.875252,0.020044],[-0.085370,0.024325,0.996052]]
2025-10-27T15:13:02.897Z,1761577982.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:13:02.900Z,1761577982.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.502971 s,
      deltaX: -0.100000 m,
      approachRate: -0.198819 m/s,
      rangeRepo size: 4

2025-10-27T15:13:02.956Z,1761577982.956 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.390820
2025-10-27T15:13:03.208Z,1761577983.208 [DAT](INFO): DAT read: Rx Time:15:13:01.8736 

2025-10-27T15:13:03.209Z,1761577983.209 [DAT](INFO): Rx dataTimestamp_ set to:1761577983.208322
2025-10-27T15:13:03.210Z,1761577983.210 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:03.210Z,1761577983.210 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-10-27T15:13:03.211Z,1761577983.211 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.646126
2025-10-27T15:13:03.266Z,1761577983.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883162,-0.460943,0.086923],[0.460328,0.887301,0.028203],[-0.090127,0.015105,0.995816]]
2025-10-27T15:13:03.312Z,1761577983.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504074 s,
      deltaX: 0.100000 m,
      approachRate: 0.198384 m/s,
      rangeRepo size: 4

2025-10-27T15:13:03.460Z,1761577983.460 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.894695
2025-10-27T15:13:03.670Z,1761577983.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891402,-0.445736,0.081987],[0.444180,0.895159,0.037352],[-0.090041,0.003121,0.995933]]
2025-10-27T15:13:03.712Z,1761577983.712 [DAT](INFO): DAT read: Rx Time:15:13:02.3735 

2025-10-27T15:13:03.713Z,1761577983.713 [DAT](INFO): Rx dataTimestamp_ set to:1761577983.712266
2025-10-27T15:13:03.714Z,1761577983.714 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:03.714Z,1761577983.714 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-10-27T15:13:03.715Z,1761577983.715 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.150074
2025-10-27T15:13:03.794Z,1761577983.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503944 s,
      deltaX: -0.100000 m,
      approachRate: -0.198435 m/s,
      rangeRepo size: 4

2025-10-27T15:13:03.966Z,1761577983.966 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.400249
2025-10-27T15:13:04.216Z,1761577984.216 [DAT](INFO): DAT read: Rx Time:15:13:02.8736 

2025-10-27T15:13:04.217Z,1761577984.217 [DAT](INFO): Rx dataTimestamp_ set to:1761577984.216615
2025-10-27T15:13:04.218Z,1761577984.218 [DAT](INFO): DAT read: Bearing 247.6,  27.6 (Local)

2025-10-27T15:13:04.218Z,1761577984.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.6,  27.6 (Local)

2025-10-27T15:13:04.221Z,1761577984.221 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:04.225Z,1761577984.225 [DAT](INFO): DAT read: 15:13:02.8736 LVL= 30800, 32241, 22498, 32755, AGC= 43, IDX= 500, 0.48,-0.830,-2.066,-2.114,-0.005, PHS=-0.722,-2.016,-2.153, RAW=  85.0,  51.7, CAL=  83.4,  57.3, ROT=  66.6, -57.3

2025-10-27T15:13:04.226Z,1761577984.226 [DAT](INFO): got valid direction response:
 15:13:02.8736 LVL= 30800, 32241, 22498, 32755, AGC= 43, IDX= 500, 0.48,-0.830,-2.066,-2.114,-0.005, PHS=-0.722,-2.016,-2.153, RAW=  85.0,  51.7, CAL=  83.4,  57.3, ROT=  66.6, -57.3

2025-10-27T15:13:04.227Z,1761577984.227 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-27T15:13:04.228Z,1761577984.228 [DAT](INFO): direction in FSK: [0.214555,0.495808,0.841511]
2025-10-27T15:13:04.228Z,1761577984.228 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:04.252Z,1761577984.252 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.687061
2025-10-27T15:13:04.432Z,1761577984.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504349 s,
      deltaX: 0.100000 m,
      approachRate: 0.198276 m/s,
      rangeRepo size: 4

2025-10-27T15:13:04.434Z,1761577984.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.389217 m,
      bearing: 86.064872 deg,
      lat: 36.779337 deg,
      lon: -121.859527 deg,
      deltaT: 2.015338 s,
      deltaX: -0.000002 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-10-27T15:13:04.468Z,1761577984.468 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.902714
2025-10-27T15:13:04.666Z,1761577984.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905938,-0.421530,0.039857],[0.418056,0.905434,0.073616],[-0.067119,-0.050029,0.996490]]
2025-10-27T15:13:04.722Z,1761577984.722 [DAT](INFO): DAT read: Rx Time:15:13:03.3736 

2025-10-27T15:13:04.722Z,1761577984.722 [DAT](INFO): Rx dataTimestamp_ set to:1761577984.721774
2025-10-27T15:13:04.725Z,1761577984.725 [DAT](INFO): DAT read: Bearing 242.3,  20.8 (Local)

2025-10-27T15:13:04.725Z,1761577984.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.3,  20.8 (Local)

2025-10-27T15:13:04.728Z,1761577984.728 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:04.734Z,1761577984.734 [DAT](INFO): DAT read: 15:13:03.3736 LVL= 32752, 28641, 24050, 32755, AGC= 42, IDX= 500,-0.16, 0.944,-0.375,-0.073, 1.857, PHS=-0.812,-2.187,-1.974, RAW=  98.3,  53.9, CAL=  97.0,  58.8, ROT=  53.0, -58.8

2025-10-27T15:13:04.736Z,1761577984.736 [DAT](INFO): got valid direction response:
 15:13:03.3736 LVL= 32752, 28641, 24050, 32755, AGC= 42, IDX= 500,-0.16, 0.944,-0.375,-0.073, 1.857, PHS=-0.812,-2.187,-1.974, RAW=  98.3,  53.9, CAL=  97.0,  58.8, ROT=  53.0, -58.8

2025-10-27T15:13:04.737Z,1761577984.737 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-27T15:13:04.738Z,1761577984.738 [DAT](INFO): direction in FSK: [0.311756,0.413715,0.855364]
2025-10-27T15:13:04.739Z,1761577984.739 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:04.792Z,1761577984.792 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.226765
2025-10-27T15:13:04.972Z,1761577984.972 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.406635
2025-10-27T15:13:05.072Z,1761577985.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912289,-0.408895,0.023079],[0.405619,0.909891,0.087015],[-0.056579,-0.070022,0.995940]]
2025-10-27T15:13:05.200Z,1761577985.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.505159 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T15:13:05.202Z,1761577985.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.389217 m,
      bearing: 76.839741 deg,
      lat: 36.779337 deg,
      lon: -121.859528 deg,
      deltaT: 0.505159 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-27T15:13:05.225Z,1761577985.225 [DAT](INFO): DAT read: Rx Time:15:13:03.8737 

2025-10-27T15:13:05.225Z,1761577985.225 [DAT](INFO): Rx dataTimestamp_ set to:1761577985.224775
2025-10-27T15:13:05.226Z,1761577985.226 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-10-27T15:13:05.227Z,1761577985.227 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-10-27T15:13:05.228Z,1761577985.228 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.662571
2025-10-27T15:13:05.474Z,1761577985.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918205,-0.396007,0.008871],[0.393508,0.914515,0.093879],[-0.045289,-0.082709,0.995544]]
2025-10-27T15:13:05.476Z,1761577985.476 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.910835
2025-10-27T15:13:05.523Z,1761577985.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:13:05.526Z,1761577985.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503001 s,
      deltaX: 0.200000 m,
      approachRate: 0.397613 m/s,
      rangeRepo size: 4

2025-10-27T15:13:05.527Z,1761577985.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.60 m.
2025-10-27T15:13:05.545Z,1761577985.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-10-27T15:13:05.729Z,1761577985.729 [DAT](INFO): DAT read: Rx Time:15:13:04.3736 

2025-10-27T15:13:05.729Z,1761577985.729 [DAT](INFO): Rx dataTimestamp_ set to:1761577985.728920
2025-10-27T15:13:05.731Z,1761577985.731 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:05.732Z,1761577985.732 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-10-27T15:13:05.734Z,1761577985.734 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.168358
2025-10-27T15:13:05.878Z,1761577985.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923073,-0.384614,-0.003043],[0.383147,0.918804,0.094858],[-0.033688,-0.088727,0.995486]]
2025-10-27T15:13:05.912Z,1761577985.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504145 s,
      deltaX: -0.200000 m,
      approachRate: -0.396711 m/s,
      rangeRepo size: 4

2025-10-27T15:13:05.926Z,1761577985.926 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T15:13:05.980Z,1761577985.980 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.414757
2025-10-27T15:13:06.232Z,1761577986.232 [DAT](INFO): DAT read: Rx Time:15:13:04.8736 

2025-10-27T15:13:06.233Z,1761577986.233 [DAT](INFO): Rx dataTimestamp_ set to:1761577986.232449
2025-10-27T15:13:06.234Z,1761577986.234 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:06.234Z,1761577986.234 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-10-27T15:13:06.235Z,1761577986.235 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.670227
2025-10-27T15:13:06.288Z,1761577986.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927479,-0.373676,-0.012175],[0.373242,0.923528,0.088236],[-0.021728,-0.086382,0.996025]]
2025-10-27T15:13:06.330Z,1761577986.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503529 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T15:13:06.484Z,1761577986.484 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.918564
2025-10-27T15:13:06.686Z,1761577986.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930274,-0.366309,-0.020199],[0.366742,0.927114,0.077200],[-0.009552,-0.079225,0.996811]]
2025-10-27T15:13:06.737Z,1761577986.737 [DAT](INFO): DAT read: Rx Time:15:13:05.3734 

2025-10-27T15:13:06.737Z,1761577986.737 [DAT](INFO): Rx dataTimestamp_ set to:1761577986.737194
2025-10-27T15:13:06.739Z,1761577986.739 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:06.740Z,1761577986.740 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-10-27T15:13:06.742Z,1761577986.742 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.176380
2025-10-27T15:13:06.988Z,1761577986.988 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.422714
2025-10-27T15:13:07.108Z,1761577987.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931468,-0.362617,-0.029588],[0.363816,0.928845,0.069892],[0.002138,-0.075867,0.997116]]
2025-10-27T15:13:07.132Z,1761577987.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504745 s,
      deltaX: -0.300000 m,
      approachRate: -0.594360 m/s,
      rangeRepo size: 4

2025-10-27T15:13:07.241Z,1761577987.241 [DAT](INFO): DAT read: Rx Time:15:13:05.8735 

2025-10-27T15:13:07.242Z,1761577987.242 [DAT](INFO): Rx dataTimestamp_ set to:1761577987.241428
2025-10-27T15:13:07.243Z,1761577987.243 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:07.244Z,1761577987.244 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-10-27T15:13:07.245Z,1761577987.245 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.679626
2025-10-27T15:13:07.492Z,1761577987.492 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.926632
2025-10-27T15:13:07.632Z,1761577987.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930674,-0.364080,-0.035939],[0.365640,0.928971,0.057626],[0.012405,-0.066772,0.997691]]
2025-10-27T15:13:07.688Z,1761577987.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:13:07.695Z,1761577987.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504234 s,
      deltaX: 0.200000 m,
      approachRate: 0.396641 m/s,
      rangeRepo size: 4

2025-10-27T15:13:07.746Z,1761577987.746 [DAT](INFO): DAT read: Rx Time:15:13:06.3734 

2025-10-27T15:13:07.748Z,1761577987.748 [DAT](INFO): Rx dataTimestamp_ set to:1761577987.747125
2025-10-27T15:13:07.752Z,1761577987.752 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:07.753Z,1761577987.753 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-10-27T15:13:07.754Z,1761577987.754 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:13:07.754Z,1761577987.754 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:13:07.756Z,1761577987.756 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:07.996Z,1761577987.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:08.047Z,1761577988.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927542,-0.371509,-0.040576],[0.373098,0.926781,0.043293],[0.021521,-0.055295,0.998238]]
2025-10-27T15:13:08.070Z,1761577988.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.505697 s,
      deltaX: -0.200000 m,
      approachRate: -0.395494 m/s,
      rangeRepo size: 4

2025-10-27T15:13:08.250Z,1761577988.250 [DAT](INFO): DAT read: Rx Time:15:13:06.8735 

2025-10-27T15:13:08.250Z,1761577988.250 [DAT](INFO): Rx dataTimestamp_ set to:1761577988.250007
2025-10-27T15:13:08.252Z,1761577988.252 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:08.252Z,1761577988.252 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:08.253Z,1761577988.253 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:08.253Z,1761577988.253 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:08.500Z,1761577988.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:08.527Z,1761577988.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923625,-0.380647,-0.044993],[0.382149,0.923570,0.031305],[0.029639,-0.046108,0.998497]]
2025-10-27T15:13:08.622Z,1761577988.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.502882 s,
      deltaX: 0.200000 m,
      approachRate: 0.397708 m/s,
      rangeRepo size: 4

2025-10-27T15:13:08.753Z,1761577988.753 [DAT](INFO): DAT read: Rx Time:15:13:07.3734 

2025-10-27T15:13:08.753Z,1761577988.753 [DAT](INFO): Rx dataTimestamp_ set to:1761577988.752940
2025-10-27T15:13:08.755Z,1761577988.755 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:08.756Z,1761577988.756 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:08.756Z,1761577988.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:08.757Z,1761577988.757 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:09.004Z,1761577989.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:09.077Z,1761577989.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916891,-0.393967,-0.064035],[0.396348,0.917623,0.029592],[0.047102,-0.052513,0.997509]]
2025-10-27T15:13:09.129Z,1761577989.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.502933 s,
      deltaX: -0.200000 m,
      approachRate: -0.397667 m/s,
      rangeRepo size: 4

2025-10-27T15:13:09.258Z,1761577989.258 [DAT](INFO): DAT read: Rx Time:15:13:07.8735 

2025-10-27T15:13:09.258Z,1761577989.258 [DAT](INFO): Rx dataTimestamp_ set to:1761577989.257747
2025-10-27T15:13:09.260Z,1761577989.260 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:09.261Z,1761577989.261 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:09.262Z,1761577989.262 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:09.265Z,1761577989.265 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:09.475Z,1761577989.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914125,-0.398097,-0.076774],[0.401328,0.915375,0.032001],[0.057537,-0.060064,0.996535]]
2025-10-27T15:13:09.508Z,1761577989.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:09.520Z,1761577989.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504807 s,
      deltaX: 0.200000 m,
      approachRate: 0.396191 m/s,
      rangeRepo size: 4

2025-10-27T15:13:09.761Z,1761577989.761 [DAT](INFO): DAT read: Rx Time:15:13:08.3737 

2025-10-27T15:13:09.761Z,1761577989.761 [DAT](INFO): Rx dataTimestamp_ set to:1761577989.761001
2025-10-27T15:13:09.763Z,1761577989.763 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-10-27T15:13:09.764Z,1761577989.764 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:09.765Z,1761577989.765 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:09.766Z,1761577989.766 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:09.883Z,1761577989.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911242,-0.402273,-0.088402],[0.406231,0.913217,0.031800],[0.067938,-0.064890,0.995577]]
2025-10-27T15:13:09.900Z,1761577989.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:13:09.903Z,1761577989.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503254 s,
      deltaX: 0.300000 m,
      approachRate: 0.596120 m/s,
      rangeRepo size: 4

2025-10-27T15:13:10.013Z,1761577990.013 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:10.264Z,1761577990.264 [DAT](INFO): DAT read: Rx Time:15:13:08.8737 

2025-10-27T15:13:10.265Z,1761577990.265 [DAT](INFO): Rx dataTimestamp_ set to:1761577990.264248
2025-10-27T15:13:10.266Z,1761577990.266 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-10-27T15:13:10.266Z,1761577990.266 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:10.272Z,1761577990.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:10.273Z,1761577990.273 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:10.288Z,1761577990.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908437,-0.406921,-0.095691],[0.410835,0.911376,0.024662],[0.077175,-0.061717,0.995106]]
2025-10-27T15:13:10.362Z,1761577990.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503247 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T15:13:10.516Z,1761577990.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:10.768Z,1761577990.768 [DAT](INFO): DAT read: Rx Time:15:13:09.3736 

2025-10-27T15:13:10.769Z,1761577990.769 [DAT](INFO): Rx dataTimestamp_ set to:1761577990.768351
2025-10-27T15:13:10.770Z,1761577990.770 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:10.770Z,1761577990.770 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:10.771Z,1761577990.771 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:10.772Z,1761577990.772 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:10.904Z,1761577990.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504103 s,
      deltaX: -0.200000 m,
      approachRate: -0.396744 m/s,
      rangeRepo size: 4

2025-10-27T15:13:11.020Z,1761577991.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:11.272Z,1761577991.272 [DAT](INFO): DAT read: Rx Time:15:13:09.8738 

2025-10-27T15:13:11.273Z,1761577991.273 [DAT](INFO): Rx dataTimestamp_ set to:1761577991.272317
2025-10-27T15:13:11.273Z,1761577991.273 [DAT](INFO): DAT read: Range 11 to 50 :     2.78 ms) speed 0.0

2025-10-27T15:13:11.274Z,1761577991.274 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:11.275Z,1761577991.275 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:11.275Z,1761577991.275 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:11.280Z,1761577991.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899507,-0.426199,-0.096129],[0.427419,0.904013,-0.008562],[0.090551,-0.033386,0.995332]]
2025-10-27T15:13:11.364Z,1761577991.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.780000 m,
      deltaT: 0.503966 s,
      deltaX: 0.380000 m,
      approachRate: 0.754019 m/s,
      rangeRepo size: 4

2025-10-27T15:13:11.524Z,1761577991.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:11.776Z,1761577991.776 [DAT](INFO): DAT read: Rx Time:15:13:10.3734 

2025-10-27T15:13:11.777Z,1761577991.777 [DAT](INFO): Rx dataTimestamp_ set to:1761577991.776256
2025-10-27T15:13:11.778Z,1761577991.778 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:11.778Z,1761577991.778 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:11.779Z,1761577991.779 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:11.779Z,1761577991.779 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:11.818Z,1761577991.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890745,-0.445245,-0.091270],[0.443616,0.895388,-0.038544],[0.098883,-0.006156,0.995080]]
2025-10-27T15:13:11.912Z,1761577991.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:13:11.914Z,1761577991.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503939 s,
      deltaX: -0.680000 m,
      approachRate: -1.349370 m/s,
      rangeRepo size: 4

2025-10-27T15:13:11.916Z,1761577991.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.10 m. Lat: 36.779337 Lon: -121.859528 Cable present.
2025-10-27T15:13:11.916Z,1761577991.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-10-27T15:13:11.916Z,1761577991.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-10-27T15:13:11.917Z,1761577991.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-10-27T15:13:12.028Z,1761577992.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:12.262Z,1761577992.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887347,-0.451439,-0.093904],[0.449332,0.892295,-0.043701],[0.103519,-0.003416,0.994622]]
2025-10-27T15:13:12.280Z,1761577992.280 [DAT](INFO): DAT read: Rx Time:15:13:10.8735 

2025-10-27T15:13:12.281Z,1761577992.281 [DAT](INFO): Rx dataTimestamp_ set to:1761577992.280343
2025-10-27T15:13:12.282Z,1761577992.282 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:12.282Z,1761577992.282 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:12.283Z,1761577992.283 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:12.284Z,1761577992.284 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:12.365Z,1761577992.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-10-27T15:13:12.365Z,1761577992.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-10-27T15:13:12.365Z,1761577992.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-10-27T15:13:12.534Z,1761577992.534 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:12.784Z,1761577992.784 [DAT](INFO): DAT read: Rx Time:15:13:11.3734 

2025-10-27T15:13:12.785Z,1761577992.785 [DAT](INFO): Rx dataTimestamp_ set to:1761577992.784245
2025-10-27T15:13:12.786Z,1761577992.786 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:12.786Z,1761577992.786 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:12.787Z,1761577992.787 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:12.787Z,1761577992.787 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T15:13:12.874Z,1761577992.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884531,-0.455156,-0.102164],[0.453424,0.890355,-0.040935],[0.109594,-0.010116,0.993925]]
2025-10-27T15:13:12.926Z,1761577992.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-10-27T15:13:12.928Z,1761577992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-27T15:13:12.928Z,1761577992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-10-27T15:13:12.928Z,1761577992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-27T15:13:12.928Z,1761577992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-10-27T15:13:12.928Z,1761577992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-27T15:13:12.928Z,1761577992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-10-27T15:13:12.928Z,1761577992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-10-27T15:13:12.928Z,1761577992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-10-27T15:13:12.928Z,1761577992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-10-27T15:13:12.928Z,1761577992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-27T15:13:13.036Z,1761577993.036 [DAT](INFO): DAT read: user:1015>

2025-10-27T15:13:13.036Z,1761577993.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:13:13.293Z,1761577993.293 [DAT](INFO): DAT read: 50

2025-10-27T15:13:13.294Z,1761577993.294 [DAT](INFO): unknown deviceResponse_: 50

2025-10-27T15:13:13.294Z,1761577993.294 [DAT](INFO): DAT read: Ok

2025-10-27T15:13:13.294Z,1761577993.294 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-27T15:13:13.307Z,1761577993.307 [DAT](INFO): DAT read: user:1016>

2025-10-27T15:13:13.308Z,1761577993.308 [DAT](INFO): DAT read: Tx time:15:13:12.3218

2025-10-27T15:13:13.308Z,1761577993.308 [DAT](INFO): Ping request sent.
2025-10-27T15:13:13.308Z,1761577993.308 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:13:13.309Z,1761577993.309 [DAT](INFO): publishing transmit ping time
2025-10-27T15:13:13.309Z,1761577993.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-27T15:13:13.320Z,1761577993.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882137,-0.457569,-0.111650],[0.456441,0.888985,-0.036978],[0.116175,-0.018342,0.993059]]
2025-10-27T15:13:13.437Z,1761577993.437 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-10-27T15:13:13.437Z,1761577993.437 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-10-27T15:13:13.437Z,1761577993.437 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-10-27T15:13:13.437Z,1761577993.437 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-10-27T15:13:13.437Z,1761577993.437 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-10-27T15:13:13.437Z,1761577993.437 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-10-27T15:13:13.438Z,1761577993.438 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-10-27T15:13:13.438Z,1761577993.438 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-10-27T15:13:13.438Z,1761577993.438 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-10-27T15:13:13.439Z,1761577993.439 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-10-27T15:13:13.443Z,1761577993.443 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-10-27T15:13:13.443Z,1761577993.443 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-10-27T15:13:13.443Z,1761577993.443 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-27T15:13:13.443Z,1761577993.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-10-27T15:13:13.443Z,1761577993.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-27T15:13:13.444Z,1761577993.444 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-10-27T15:13:13.444Z,1761577993.444 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-10-27T15:13:13.544Z,1761577993.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.235466
2025-10-27T15:13:13.737Z,1761577993.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879173,-0.461798,-0.117460],[0.460417,0.886789,-0.040279],[0.122762,-0.018669,0.992260]]
2025-10-27T15:13:13.780Z,1761577993.780 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-10-27T15:13:13.780Z,1761577993.780 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-10-27T15:13:13.796Z,1761577993.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.487622
2025-10-27T15:13:14.048Z,1761577994.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739507
2025-10-27T15:13:14.136Z,1761577994.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876395,-0.466599,-0.119237],[0.464523,0.884346,-0.046373],[0.127085,-0.014747,0.991782]]
2025-10-27T15:13:14.158Z,1761577994.158 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-10-27T15:13:14.158Z,1761577994.158 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-10-27T15:13:14.158Z,1761577994.158 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-10-27T15:13:14.160Z,1761577994.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:13:14.300Z,1761577994.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991506
2025-10-27T15:13:14.538Z,1761577994.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874725,-0.469321,-0.120806],[0.466819,0.882937,-0.050018],[0.130139,-0.012643,0.991415]]
2025-10-27T15:13:14.552Z,1761577994.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243670
2025-10-27T15:13:14.804Z,1761577994.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495473
2025-10-27T15:13:14.941Z,1761577994.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874348,-0.469254,-0.123757],[0.466719,0.882959,-0.050560],[0.132998,-0.013553,0.991024]]
2025-10-27T15:13:15.057Z,1761577995.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748162
2025-10-27T15:13:15.310Z,1761577995.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001532
2025-10-27T15:13:15.346Z,1761577995.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875374,-0.466161,-0.128117],[0.463852,0.884548,-0.049153],[0.136239,-0.016400,0.990540]]
2025-10-27T15:13:15.561Z,1761577995.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252457
2025-10-27T15:13:15.762Z,1761577995.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880338,-0.453985,-0.137486],[0.452081,0.890759,-0.046602],[0.143623,-0.021129,0.989407]]
2025-10-27T15:13:15.813Z,1761577995.813 [DAT](INFO): DAT read: Rx Time:15:13:14.4535 

2025-10-27T15:13:15.813Z,1761577995.813 [DAT](INFO): Rx dataTimestamp_ set to:1761577995.812989
2025-10-27T15:13:15.815Z,1761577995.815 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:15.816Z,1761577995.816 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:13:15.817Z,1761577995.817 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.508748
2025-10-27T15:13:16.065Z,1761577996.065 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.757029
2025-10-27T15:13:16.186Z,1761577996.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:13:16.319Z,1761577996.319 [DAT](INFO): DAT read: Rx Time:15:13:14.9535 

2025-10-27T15:13:16.321Z,1761577996.321 [DAT](INFO): Rx dataTimestamp_ set to:1761577996.319630
2025-10-27T15:13:16.324Z,1761577996.324 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:16.325Z,1761577996.325 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-10-27T15:13:16.326Z,1761577996.326 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.017305
2025-10-27T15:13:16.566Z,1761577996.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887820,-0.436912,-0.144511],[0.434752,0.899275,-0.047904],[0.150886,-0.020296,0.988343]]
2025-10-27T15:13:16.569Z,1761577996.569 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.260649
2025-10-27T15:13:16.820Z,1761577996.820 [DAT](INFO): DAT read: Rx Time:15:13:15.4538 

2025-10-27T15:13:16.821Z,1761577996.821 [DAT](INFO): Rx dataTimestamp_ set to:1761577996.820243
2025-10-27T15:13:16.822Z,1761577996.822 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed -0.1

2025-10-27T15:13:16.822Z,1761577996.822 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-10-27T15:13:16.823Z,1761577996.823 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.514962
2025-10-27T15:13:16.970Z,1761577996.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892101,-0.426741,-0.148486],[0.424560,0.904142,-0.047709],[0.154611,-0.020480,0.987763]]
2025-10-27T15:13:17.002Z,1761577997.002 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-10-27T15:13:17.002Z,1761577997.002 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-10-27T15:13:17.002Z,1761577997.002 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-10-27T15:13:17.002Z,1761577997.002 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-10-27T15:13:17.073Z,1761577997.073 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.764066
2025-10-27T15:13:17.328Z,1761577997.328 [DAT](INFO): DAT read: Rx Time:15:13:15.9539 

2025-10-27T15:13:17.329Z,1761577997.329 [DAT](INFO): Rx dataTimestamp_ set to:1761577997.328366
2025-10-27T15:13:17.334Z,1761577997.334 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:17.336Z,1761577997.336 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-10-27T15:13:17.338Z,1761577997.338 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.029354
2025-10-27T15:13:17.381Z,1761577997.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896765,-0.415423,-0.152436],[0.413338,0.909382,-0.046653],[0.158004,-0.021171,0.987211]]
2025-10-27T15:13:17.503Z,1761577997.503 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-10-27T15:13:17.503Z,1761577997.503 [lineCaptureHoming:LineCapture:M] Stopped
2025-10-27T15:13:17.505Z,1761577997.505 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-10-27T15:13:17.505Z,1761577997.505 [lineCaptureHoming:LineCapture] Stopped
2025-10-27T15:13:17.505Z,1761577997.505 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-10-27T15:13:17.505Z,1761577997.505 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:G] Stopped
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:H] Stopped
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-10-27T15:13:17.506Z,1761577997.506 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-27T15:13:17.507Z,1761577997.507 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-27T15:13:17.507Z,1761577997.507 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-27T15:13:17.507Z,1761577997.507 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-27T15:13:17.578Z,1761577997.578 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.269264
2025-10-27T15:13:17.775Z,1761577997.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901438,-0.403791,-0.156084],[0.401806,0.914594,-0.045497],[0.161125,-0.021703,0.986695]]
2025-10-27T15:13:17.814Z,1761577997.814 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-10-27T15:13:17.814Z,1761577997.814 [lineCaptureHoming:Lap:B] Stopped
2025-10-27T15:13:17.814Z,1761577997.814 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-10-27T15:13:17.814Z,1761577997.814 [lineCaptureHoming:Lap:C] Running Loop=1
2025-10-27T15:13:17.828Z,1761577997.828 [DAT](INFO): DAT read: Rx Time:15:13:16.4538 

2025-10-27T15:13:17.829Z,1761577997.829 [DAT](INFO): Rx dataTimestamp_ set to:1761577997.828325
2025-10-27T15:13:17.830Z,1761577997.830 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:17.830Z,1761577997.830 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-10-27T15:13:17.832Z,1761577997.832 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.523648
2025-10-27T15:13:18.081Z,1761577998.081 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.771923
2025-10-27T15:13:18.180Z,1761577998.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906048,-0.392175,-0.158982],[0.390319,0.919625,-0.044062],[0.163484,-0.022132,0.986298]]
2025-10-27T15:13:18.217Z,1761577998.217 [lineCaptureHoming:Lap:C] Stopped
2025-10-27T15:13:18.217Z,1761577998.217 [lineCaptureHoming:Lap:D] Running Loop=1
2025-10-27T15:13:18.217Z,1761577998.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:13:18.341Z,1761577998.341 [DAT](INFO): DAT read: Rx Time:15:13:16.9538 

2025-10-27T15:13:18.342Z,1761577998.342 [DAT](INFO): Rx dataTimestamp_ set to:1761577998.341166
2025-10-27T15:13:18.346Z,1761577998.346 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:18.349Z,1761577998.349 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-10-27T15:13:18.352Z,1761577998.352 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.042658
2025-10-27T15:13:18.588Z,1761577998.588 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.279640
2025-10-27T15:13:18.589Z,1761577998.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910449,-0.380864,-0.161322],[0.379267,0.924342,-0.041811],[0.165041,-0.023117,0.986016]]
2025-10-27T15:13:18.664Z,1761577998.664 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-10-27T15:13:18.664Z,1761577998.664 [lineCaptureHoming:Lap:D] Stopped
2025-10-27T15:13:18.664Z,1761577998.664 [lineCaptureHoming:Lap:E] Running Loop=1
2025-10-27T15:13:18.664Z,1761577998.664 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-10-27T15:13:18.843Z,1761577998.843 [DAT](INFO): DAT read: Rx Time:15:13:17.4537 

2025-10-27T15:13:18.844Z,1761577998.844 [DAT](INFO): Rx dataTimestamp_ set to:1761577998.843474
2025-10-27T15:13:18.845Z,1761577998.845 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:18.846Z,1761577998.846 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-10-27T15:13:18.846Z,1761577998.846 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.538005
2025-10-27T15:13:18.987Z,1761577998.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914596,-0.369901,-0.163363],[0.368867,0.928715,-0.037758],[0.165684,-0.025726,0.985843]]
2025-10-27T15:13:19.023Z,1761577999.023 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-10-27T15:13:19.023Z,1761577999.023 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-10-27T15:13:19.024Z,1761577999.024 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-10-27T15:13:19.024Z,1761577999.024 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-10-27T15:13:19.024Z,1761577999.024 [lineCaptureHoming:restartDHCP:A] Stopped
2025-10-27T15:13:19.024Z,1761577999.024 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-10-27T15:13:19.096Z,1761577999.096 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.788102
2025-10-27T15:13:19.351Z,1761577999.351 [DAT](INFO): DAT read: Rx Time:15:13:17.9538 

2025-10-27T15:13:19.353Z,1761577999.353 [DAT](INFO): Rx dataTimestamp_ set to:1761577999.351737
2025-10-27T15:13:19.357Z,1761577999.357 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:19.360Z,1761577999.360 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-10-27T15:13:19.368Z,1761577999.368 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.059413
2025-10-27T15:13:19.418Z,1761577999.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918372,-0.359832,-0.164663],[0.359300,0.932600,-0.034062],[0.165821,-0.027882,0.985762]]
2025-10-27T15:13:19.469Z,1761577999.469 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-10-27T15:13:19.470Z,1761577999.470 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-10-27T15:13:19.470Z,1761577999.470 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-10-27T15:13:19.470Z,1761577999.470 [lineCaptureHoming:restartDHCP] Stopped
2025-10-27T15:13:19.470Z,1761577999.470 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-10-27T15:13:19.545Z,1761577999.545 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-10-27T15:13:19.608Z,1761577999.608 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299211
2025-10-27T15:13:19.860Z,1761577999.860 [DAT](INFO): DAT read: Rx Time:15:13:18.4537 

2025-10-27T15:13:19.861Z,1761577999.861 [DAT](INFO): Rx dataTimestamp_ set to:1761577999.860558
2025-10-27T15:13:19.862Z,1761577999.862 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:19.863Z,1761577999.863 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-10-27T15:13:19.864Z,1761577999.864 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.555764
2025-10-27T15:13:19.885Z,1761577999.885 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-10-27T15:13:19.885Z,1761577999.885 [lineCaptureHoming:Lap:E] Stopped
2025-10-27T15:13:19.886Z,1761577999.886 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-10-27T15:13:19.886Z,1761577999.886 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-10-27T15:13:19.886Z,1761577999.886 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-10-27T15:13:19.886Z,1761577999.886 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-10-27T15:13:20.033Z,1761578000.033 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-10-27UTC151319_sh
  
2025-10-27T15:13:20.121Z,1761578000.121 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.812145
2025-10-27T15:13:20.250Z,1761578000.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924972,-0.342947,-0.163750],[0.343115,0.938871,-0.028161],[0.163398,-0.030137,0.986100]]
2025-10-27T15:13:20.295Z,1761578000.295 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  5.000000 min 
2025-10-27T15:13:20.296Z,1761578000.296 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-10-27T15:13:20.296Z,1761578000.296 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-10-27T15:13:20.296Z,1761578000.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:13:20.376Z,1761578000.376 [DAT](INFO): DAT read: Rx Time:15:13:18.9538 

2025-10-27T15:13:20.378Z,1761578000.378 [DAT](INFO): Rx dataTimestamp_ set to:1761578000.377082
2025-10-27T15:13:20.382Z,1761578000.382 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:20.383Z,1761578000.383 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-10-27T15:13:20.384Z,1761578000.384 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.076028
2025-10-27T15:13:20.633Z,1761578000.633 [DAT](INFO): DAT read: Rx Time:15:13:19.4538 

2025-10-27T15:13:20.634Z,1761578000.634 [DAT](INFO): Rx dataTimestamp_ set to:1761578000.633263
2025-10-27T15:13:20.634Z,1761578000.634 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.325759
2025-10-27T15:13:20.709Z,1761578000.709 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-10-27T15:13:20.709Z,1761578000.709 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-10-27T15:13:20.876Z,1761578000.876 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:20.877Z,1761578000.877 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-10-27T15:13:20.878Z,1761578000.878 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.569730
2025-10-27T15:13:21.086Z,1761578001.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930021,-0.331951,-0.157702],[0.331982,0.942901,-0.026930],[0.157637,-0.027309,0.987119]]
2025-10-27T15:13:21.105Z,1761578001.105 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-10-27T15:13:21.106Z,1761578001.106 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-10-27T15:13:21.106Z,1761578001.106 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-10-27T15:13:21.106Z,1761578001.106 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-10-27T15:13:21.136Z,1761578001.136 [DAT](INFO): DAT read: Rx Time:15:13:19.9539 

2025-10-27T15:13:21.137Z,1761578001.137 [DAT](INFO): Rx dataTimestamp_ set to:1761578001.136452
2025-10-27T15:13:21.138Z,1761578001.138 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:21.139Z,1761578001.139 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-10-27T15:13:21.141Z,1761578001.141 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.832263
2025-10-27T15:13:21.390Z,1761578001.390 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.081385
2025-10-27T15:13:21.451Z,1761578001.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931669,-0.329250,-0.153580],[0.329007,0.943920,-0.027738],[0.154100,-0.024686,0.987747]]
2025-10-27T15:13:21.640Z,1761578001.640 [DAT](INFO): DAT read: Rx Time:15:13:20.4538 

2025-10-27T15:13:21.641Z,1761578001.641 [DAT](INFO): Rx dataTimestamp_ set to:1761578001.640304
2025-10-27T15:13:21.642Z,1761578001.642 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:21.642Z,1761578001.642 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-10-27T15:13:21.644Z,1761578001.644 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.335364
2025-10-27T15:13:21.644Z,1761578001.644 [DAT](INFO): Requesting device enable set for address 50.
2025-10-27T15:13:21.860Z,1761578001.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932511,-0.328906,-0.149146],[0.328347,0.944110,-0.029069],[0.150371,-0.021865,0.988388]]
2025-10-27T15:13:21.892Z,1761578001.892 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.583599
2025-10-27T15:13:21.892Z,1761578001.892 [DAT](INFO): Requesting device enable set for address 50.
2025-10-27T15:13:22.144Z,1761578002.144 [DAT](INFO): DAT read: Rx Time:15:13:20.9535 

2025-10-27T15:13:22.145Z,1761578002.145 [DAT](INFO): Rx dataTimestamp_ set to:1761578002.144526
2025-10-27T15:13:22.146Z,1761578002.146 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:22.147Z,1761578002.147 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-10-27T15:13:22.150Z,1761578002.150 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.841897
2025-10-27T15:13:22.151Z,1761578002.151 [DAT](INFO): Requesting device enable set for address 50.
2025-10-27T15:13:22.261Z,1761578002.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932545,-0.330737,-0.144818],[0.329980,0.943513,-0.029922],[0.146534,-0.019883,0.989006]]
2025-10-27T15:13:22.399Z,1761578002.399 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.090149
2025-10-27T15:13:22.648Z,1761578002.648 [DAT](INFO): DAT read: Rx Time:15:13:21.4534 

2025-10-27T15:13:22.649Z,1761578002.649 [DAT](INFO): Rx dataTimestamp_ set to:1761578002.648382
2025-10-27T15:13:22.650Z,1761578002.650 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T15:13:22.651Z,1761578002.651 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-10-27T15:13:22.657Z,1761578002.657 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.348334
2025-10-27T15:13:22.667Z,1761578002.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931563,-0.334973,-0.141365],[0.334155,0.942034,-0.030202],[0.143288,-0.019103,0.989497]]
2025-10-27T15:13:22.900Z,1761578002.900 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.591578
2025-10-27T15:13:23.085Z,1761578003.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929711,-0.341359,-0.138242],[0.340610,0.939733,-0.029784],[0.140078,-0.019396,0.989951]]
2025-10-27T15:13:23.153Z,1761578003.153 [DAT](INFO): DAT read: Rx Time:15:13:21.9536 

2025-10-27T15:13:23.154Z,1761578003.154 [DAT](INFO): Rx dataTimestamp_ set to:1761578003.153488
2025-10-27T15:13:23.156Z,1761578003.156 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:23.157Z,1761578003.157 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-10-27T15:13:23.158Z,1761578003.158 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.849551
2025-10-27T15:13:23.408Z,1761578003.408 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.098993
2025-10-27T15:13:23.473Z,1761578003.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926632,-0.350727,-0.135442],[0.349962,0.936277,-0.030214],[0.137408,-0.019402,0.990324]]
2025-10-27T15:13:23.657Z,1761578003.657 [DAT](INFO): DAT read: Rx Time:15:13:22.4535 

2025-10-27T15:13:23.658Z,1761578003.658 [DAT](INFO): Rx dataTimestamp_ set to:1761578003.657414
2025-10-27T15:13:23.660Z,1761578003.660 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:23.660Z,1761578003.660 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-10-27T15:13:23.661Z,1761578003.661 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.352773
2025-10-27T15:13:23.878Z,1761578003.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922766,-0.361840,-0.132569],[0.361043,0.932039,-0.030862],[0.134727,-0.019385,0.990693]]
2025-10-27T15:13:23.908Z,1761578003.908 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.599591
2025-10-27T15:13:24.160Z,1761578004.160 [DAT](INFO): DAT read: Rx Time:15:13:22.9536 

2025-10-27T15:13:24.161Z,1761578004.161 [DAT](INFO): Rx dataTimestamp_ set to:1761578004.160288
2025-10-27T15:13:24.162Z,1761578004.162 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:24.165Z,1761578004.165 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-10-27T15:13:24.170Z,1761578004.170 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.861458
2025-10-27T15:13:24.282Z,1761578004.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917771,-0.376037,-0.127641],[0.374480,0.926500,-0.036913],[0.132140,-0.013922,0.991133]]
2025-10-27T15:13:24.422Z,1761578004.422 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.113125
2025-10-27T15:13:24.678Z,1761578004.678 [DAT](INFO): DAT read: Rx Time:15:13:23.4535 

2025-10-27T15:13:24.683Z,1761578004.683 [DAT](INFO): Rx dataTimestamp_ set to:1761578004.678517
2025-10-27T15:13:24.684Z,1761578004.684 [DAT](INFO): DAT read: Bearing 231.6, -11.4 (Local)

2025-10-27T15:13:24.685Z,1761578004.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.6, -11.4 (Local)

2025-10-27T15:13:24.686Z,1761578004.686 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:24.720Z,1761578004.720 [DAT](INFO): DAT read: 15:13:23.4535 LVL= 18896, 32753, 24178, 17155, AGC= 36, IDX= 506,-0.32,-0.673,-1.160,-0.008, 0.485, PHS=-1.056,-1.600,-0.538, RAW= 179.2,  50.8, CAL= 179.1,  59.1, ROT= 330.9, -59.1

2025-10-27T15:13:24.722Z,1761578004.722 [DAT](INFO): got valid direction response:
 15:13:23.4535 LVL= 18896, 32753, 24178, 17155, AGC= 36, IDX= 506,-0.32,-0.673,-1.160,-0.008, 0.485, PHS=-1.056,-1.600,-0.538, RAW= 179.2,  50.8, CAL= 179.1,  59.1, ROT= 330.9, -59.1

2025-10-27T15:13:24.722Z,1761578004.722 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-27T15:13:24.733Z,1761578004.733 [DAT](INFO): direction in FSK: [0.448718,-0.249753,0.858065]
2025-10-27T15:13:24.733Z,1761578004.733 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:24.756Z,1761578004.756 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.447142
2025-10-27T15:13:24.921Z,1761578004.921 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.612051
2025-10-27T15:13:25.092Z,1761578005.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904855,-0.407762,-0.122344],[0.406688,0.912905,-0.034774],[0.125868,-0.018291,0.991878]]
2025-10-27T15:13:25.173Z,1761578005.173 [DAT](INFO): DAT read: Rx Time:15:13:23.9536 

2025-10-27T15:13:25.173Z,1761578005.173 [DAT](INFO): Rx dataTimestamp_ set to:1761578005.173219
2025-10-27T15:13:25.175Z,1761578005.175 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:25.176Z,1761578005.176 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-10-27T15:13:25.177Z,1761578005.177 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.869085
2025-10-27T15:13:25.428Z,1761578005.428 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.118429
2025-10-27T15:13:25.495Z,1761578005.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897898,-0.421974,-0.125367],[0.423185,0.905862,-0.018132],[0.121216,-0.036773,0.991945]]
2025-10-27T15:13:25.676Z,1761578005.676 [DAT](INFO): DAT read: Rx Time:15:13:24.4538 

2025-10-27T15:13:25.677Z,1761578005.677 [DAT](INFO): Rx dataTimestamp_ set to:1761578005.676241
2025-10-27T15:13:25.678Z,1761578005.678 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:25.678Z,1761578005.678 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-10-27T15:13:25.679Z,1761578005.679 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.370902
2025-10-27T15:13:25.897Z,1761578005.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891495,-0.434692,-0.127593],[0.437921,0.899008,-0.003032],[0.116026,-0.053173,0.991822]]
2025-10-27T15:13:25.928Z,1761578005.928 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.619687
2025-10-27T15:13:26.180Z,1761578006.180 [DAT](INFO): DAT read: Rx Time:15:13:24.9538 

2025-10-27T15:13:26.181Z,1761578006.181 [DAT](INFO): Rx dataTimestamp_ set to:1761578006.180253
2025-10-27T15:13:26.182Z,1761578006.182 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:26.182Z,1761578006.182 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-10-27T15:13:26.183Z,1761578006.183 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.874908
2025-10-27T15:13:26.302Z,1761578006.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885010,-0.449794,-0.120176],[0.452001,0.891964,-0.009774],[0.111589,-0.045670,0.992704]]
2025-10-27T15:13:26.435Z,1761578006.435 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.125612
2025-10-27T15:13:26.684Z,1761578006.684 [DAT](INFO): DAT read: Rx Time:15:13:25.4536 

2025-10-27T15:13:26.685Z,1761578006.685 [DAT](INFO): Rx dataTimestamp_ set to:1761578006.684514
2025-10-27T15:13:26.686Z,1761578006.686 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:26.687Z,1761578006.687 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-10-27T15:13:26.688Z,1761578006.688 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.379184
2025-10-27T15:13:26.722Z,1761578006.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878394,-0.465439,-0.108583],[0.465603,0.884629,-0.025395],[0.107876,-0.028249,0.993763]]
2025-10-27T15:13:26.936Z,1761578006.936 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.627454
2025-10-27T15:13:27.188Z,1761578007.188 [DAT](INFO): DAT read: Rx Time:15:13:25.9535 

2025-10-27T15:13:27.189Z,1761578007.189 [DAT](INFO): Rx dataTimestamp_ set to:1761578007.188260
2025-10-27T15:13:27.190Z,1761578007.190 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:27.190Z,1761578007.190 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-10-27T15:13:27.191Z,1761578007.191 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.882966
2025-10-27T15:13:27.263Z,1761578007.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872984,-0.477354,-0.100165],[0.476515,0.878520,-0.033696],[0.104082,-0.018314,0.994400]]
2025-10-27T15:13:27.443Z,1761578007.443 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.133920
2025-10-27T15:13:27.650Z,1761578007.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869320,-0.484427,-0.098044],[0.483917,0.874582,-0.030522],[0.100533,-0.020912,0.994714]]
2025-10-27T15:13:27.692Z,1761578007.692 [DAT](INFO): DAT read: Rx Time:15:13:26.4537 

2025-10-27T15:13:27.693Z,1761578007.693 [DAT](INFO): Rx dataTimestamp_ set to:1761578007.692380
2025-10-27T15:13:27.694Z,1761578007.694 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:27.695Z,1761578007.695 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-10-27T15:13:27.696Z,1761578007.696 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.387119
2025-10-27T15:13:27.945Z,1761578007.945 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.636078
2025-10-27T15:13:28.081Z,1761578008.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868120,-0.485686,-0.102354],[0.486782,0.873383,-0.015679],[0.097009,-0.036212,0.994624]]
2025-10-27T15:13:28.196Z,1761578008.196 [DAT](INFO): DAT read: Rx Time:15:13:26.9538 

2025-10-27T15:13:28.197Z,1761578008.197 [DAT](INFO): Rx dataTimestamp_ set to:1761578008.196294
2025-10-27T15:13:28.198Z,1761578008.198 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:28.198Z,1761578008.198 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-10-27T15:13:28.199Z,1761578008.199 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.890964
2025-10-27T15:13:28.454Z,1761578008.454 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.145033
2025-10-27T15:13:28.509Z,1761578008.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869817,-0.480745,-0.110914],[0.484543,0.874726,0.008512],[0.092927,-0.061146,0.993794]]
2025-10-27T15:13:28.704Z,1761578008.704 [DAT](INFO): DAT read: Rx Time:15:13:27.4537 

2025-10-27T15:13:28.705Z,1761578008.705 [DAT](INFO): Rx dataTimestamp_ set to:1761578008.704342
2025-10-27T15:13:28.706Z,1761578008.706 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:28.706Z,1761578008.706 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-10-27T15:13:28.707Z,1761578008.707 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.398997
2025-10-27T15:13:28.866Z,1761578008.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874873,-0.469522,-0.118937],[0.476500,0.878374,0.037505],[0.086862,-0.089486,0.992193]]
2025-10-27T15:13:28.957Z,1761578008.957 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.647970
2025-10-27T15:13:29.208Z,1761578009.208 [DAT](INFO): DAT read: Rx Time:15:13:27.9538 

2025-10-27T15:13:29.209Z,1761578009.209 [DAT](INFO): Rx dataTimestamp_ set to:1761578009.208278
2025-10-27T15:13:29.210Z,1761578009.210 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:29.210Z,1761578009.210 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-10-27T15:13:29.211Z,1761578009.211 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.903026
2025-10-27T15:13:29.286Z,1761578009.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883534,-0.452632,-0.120382],[0.461796,0.884775,0.062593],[0.078179,-0.110895,0.990752]]
2025-10-27T15:13:29.461Z,1761578009.461 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.152561
2025-10-27T15:13:29.688Z,1761578009.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894909,-0.432587,-0.109571],[0.441372,0.894233,0.074420],[0.065789,-0.114961,0.991189]]
2025-10-27T15:13:29.712Z,1761578009.712 [DAT](INFO): DAT read: Rx Time:15:13:28.4537 

2025-10-27T15:13:29.713Z,1761578009.713 [DAT](INFO): Rx dataTimestamp_ set to:1761578009.712599
2025-10-27T15:13:29.714Z,1761578009.714 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:29.715Z,1761578009.715 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-10-27T15:13:29.716Z,1761578009.716 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.407358
2025-10-27T15:13:29.964Z,1761578009.964 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.655569
2025-10-27T15:13:30.082Z,1761578010.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908240,-0.408773,-0.089472],[0.415430,0.906475,0.075641],[0.050184,-0.105870,0.993113]]
2025-10-27T15:13:30.216Z,1761578010.216 [DAT](INFO): DAT read: Rx Time:15:13:28.9537 

2025-10-27T15:13:30.217Z,1761578010.217 [DAT](INFO): Rx dataTimestamp_ set to:1761578010.216278
2025-10-27T15:13:30.218Z,1761578010.218 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:30.219Z,1761578010.219 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-10-27T15:13:30.221Z,1761578010.221 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.912298
2025-10-27T15:13:30.470Z,1761578010.470 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.161373
2025-10-27T15:13:30.540Z,1761578010.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923122,-0.378765,-0.066199],[0.383060,0.920838,0.072962],[0.033323,-0.092712,0.995135]]
2025-10-27T15:13:30.729Z,1761578010.729 [DAT](INFO): DAT read: Rx Time:15:13:29.4536 

2025-10-27T15:13:30.730Z,1761578010.730 [DAT](INFO): Rx dataTimestamp_ set to:1761578010.729661
2025-10-27T15:13:30.732Z,1761578010.732 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:30.733Z,1761578010.733 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-10-27T15:13:30.734Z,1761578010.734 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.425714
2025-10-27T15:13:30.897Z,1761578010.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938499,-0.342746,-0.041765],[0.344908,0.936224,0.067257],[0.016049,-0.077526,0.996861]]
2025-10-27T15:13:30.981Z,1761578010.981 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.672142
2025-10-27T15:13:31.232Z,1761578011.232 [DAT](INFO): DAT read: Rx Time:15:13:29.9537 

2025-10-27T15:13:31.233Z,1761578011.233 [DAT](INFO): Rx dataTimestamp_ set to:1761578011.232297
2025-10-27T15:13:31.234Z,1761578011.234 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:31.234Z,1761578011.234 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-10-27T15:13:31.235Z,1761578011.235 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.926977
2025-10-27T15:13:31.301Z,1761578011.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953099,-0.302144,-0.017657],[0.302659,0.951332,0.058013],[-0.000731,-0.060636,0.998160]]
2025-10-27T15:13:31.487Z,1761578011.487 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.177849
2025-10-27T15:13:31.701Z,1761578011.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965964,-0.258638,0.004411],[0.258170,0.965001,0.046068],[-0.016172,-0.043361,0.998929]]
2025-10-27T15:13:31.737Z,1761578011.737 [DAT](INFO): DAT read: Rx Time:15:13:30.4537 

2025-10-27T15:13:31.737Z,1761578011.737 [DAT](INFO): Rx dataTimestamp_ set to:1761578011.737128
2025-10-27T15:13:31.739Z,1761578011.739 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:31.740Z,1761578011.740 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-10-27T15:13:31.741Z,1761578011.741 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.432970
2025-10-27T15:13:31.988Z,1761578011.988 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.679541
2025-10-27T15:13:32.105Z,1761578012.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976453,-0.214487,0.023143],[0.213696,0.976359,0.032510],[-0.029569,-0.026799,0.999203]]
2025-10-27T15:13:32.240Z,1761578012.240 [DAT](INFO): DAT read: Rx Time:15:13:30.9538 

2025-10-27T15:13:32.241Z,1761578012.241 [DAT](INFO): Rx dataTimestamp_ set to:1761578012.240667
2025-10-27T15:13:32.242Z,1761578012.242 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:32.243Z,1761578012.243 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-27T15:13:32.244Z,1761578012.244 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.935326
2025-10-27T15:13:32.493Z,1761578012.493 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.184237
2025-10-27T15:13:32.533Z,1761578012.533 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T15:13:32.581Z,1761578012.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984355,-0.172219,0.037235],[0.171370,0.984892,0.024920],[-0.040964,-0.018149,0.998996]]
2025-10-27T15:13:32.745Z,1761578012.745 [DAT](INFO): DAT read: Rx Time:15:13:31.4538 

2025-10-27T15:13:32.746Z,1761578012.746 [DAT](INFO): Rx dataTimestamp_ set to:1761578012.745313
2025-10-27T15:13:32.749Z,1761578012.749 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:32.750Z,1761578012.750 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-10-27T15:13:32.752Z,1761578012.752 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.442886
2025-10-27T15:13:32.916Z,1761578012.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990140,-0.131774,0.047519],[0.130741,0.991120,0.024255],[-0.050293,-0.017803,0.998576]]
2025-10-27T15:13:33.001Z,1761578013.001 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.692249
2025-10-27T15:13:33.252Z,1761578013.252 [DAT](INFO): DAT read: Rx Time:15:13:31.9539 

2025-10-27T15:13:33.253Z,1761578013.253 [DAT](INFO): Rx dataTimestamp_ set to:1761578013.252242
2025-10-27T15:13:33.254Z,1761578013.254 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:33.254Z,1761578013.254 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-27T15:13:33.255Z,1761578013.255 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.946901
2025-10-27T15:13:33.317Z,1761578013.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994017,-0.094176,0.055319],[0.093425,0.995497,0.016015],[-0.056578,-0.010751,0.998340]]
2025-10-27T15:13:33.504Z,1761578013.504 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.195574
2025-10-27T15:13:33.546Z,1761578013.546 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T15:13:33.724Z,1761578013.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996330,-0.061846,0.059173],[0.061901,0.998082,0.000904],[-0.059116,0.002762,0.998247]]
2025-10-27T15:13:33.760Z,1761578013.760 [DAT](INFO): DAT read: Rx Time:15:13:32.4538 

2025-10-27T15:13:33.761Z,1761578013.761 [DAT](INFO): Rx dataTimestamp_ set to:1761578013.760407
2025-10-27T15:13:33.762Z,1761578013.762 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:33.762Z,1761578013.762 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-10-27T15:13:33.763Z,1761578013.763 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.455084
2025-10-27T15:13:34.012Z,1761578014.012 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.703733
2025-10-27T15:13:34.152Z,1761578014.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997594,-0.037332,0.058425],[0.037706,0.999275,-0.005320],[-0.058184,0.007510,0.998278]]
2025-10-27T15:13:34.265Z,1761578014.265 [DAT](INFO): DAT read: Rx Time:15:13:32.9536 

2025-10-27T15:13:34.265Z,1761578014.265 [DAT](INFO): Rx dataTimestamp_ set to:1761578014.264699
2025-10-27T15:13:34.266Z,1761578014.266 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:34.267Z,1761578014.267 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-10-27T15:13:34.268Z,1761578014.268 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.959366
2025-10-27T15:13:34.517Z,1761578014.517 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.208902
2025-10-27T15:13:34.599Z,1761578014.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998784,-0.013352,0.047468],[0.012738,0.999831,0.013226],[-0.047637,-0.012606,0.998785]]
2025-10-27T15:13:34.768Z,1761578014.768 [DAT](INFO): DAT read: Rx Time:15:13:33.4535 

2025-10-27T15:13:34.768Z,1761578014.768 [DAT](INFO): Rx dataTimestamp_ set to:1761578014.768211
2025-10-27T15:13:34.770Z,1761578014.770 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:34.770Z,1761578014.770 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-10-27T15:13:34.771Z,1761578014.771 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.462908
2025-10-27T15:13:35.021Z,1761578015.021 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.712259
2025-10-27T15:13:35.272Z,1761578015.272 [DAT](INFO): DAT read: Rx Time:15:13:33.9537 

2025-10-27T15:13:35.273Z,1761578015.273 [DAT](INFO): Rx dataTimestamp_ set to:1761578015.272285
2025-10-27T15:13:35.274Z,1761578015.274 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:35.274Z,1761578015.274 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-10-27T15:13:35.275Z,1761578015.275 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.966938
2025-10-27T15:13:35.353Z,1761578015.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999156,-0.013362,0.038849],[0.012188,0.999466,0.030318],[-0.039234,-0.029819,0.998785]]
2025-10-27T15:13:35.526Z,1761578015.526 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.217245
2025-10-27T15:13:35.780Z,1761578015.780 [DAT](INFO): DAT read: Rx Time:15:13:34.4538 

2025-10-27T15:13:35.781Z,1761578015.781 [DAT](INFO): Rx dataTimestamp_ set to:1761578015.780584
2025-10-27T15:13:35.782Z,1761578015.782 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:35.783Z,1761578015.783 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-10-27T15:13:35.784Z,1761578015.784 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.475245
2025-10-27T15:13:36.029Z,1761578016.029 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.720312
2025-10-27T15:13:36.146Z,1761578016.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999221,-0.034410,0.019331],[0.033063,0.997262,0.066139],[-0.021554,-0.065449,0.997623]]
2025-10-27T15:13:36.280Z,1761578016.280 [DAT](INFO): DAT read: Rx Time:15:13:34.9539 

2025-10-27T15:13:36.281Z,1761578016.281 [DAT](INFO): Rx dataTimestamp_ set to:1761578016.280412
2025-10-27T15:13:36.282Z,1761578016.282 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:36.282Z,1761578016.282 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-10-27T15:13:36.283Z,1761578016.283 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.975086
2025-10-27T15:13:36.533Z,1761578016.533 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.223948
2025-10-27T15:13:36.566Z,1761578016.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998527,-0.053282,0.010236],[0.052387,0.995906,0.073663],[-0.014118,-0.073018,0.997231]]
2025-10-27T15:13:36.784Z,1761578016.784 [DAT](INFO): DAT read: Rx Time:15:13:35.4538 

2025-10-27T15:13:36.785Z,1761578016.785 [DAT](INFO): Rx dataTimestamp_ set to:1761578016.784473
2025-10-27T15:13:36.786Z,1761578016.786 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:36.787Z,1761578016.787 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-10-27T15:13:36.788Z,1761578016.788 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.479151
2025-10-27T15:13:36.955Z,1761578016.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997050,-0.076697,0.002931],[0.076305,0.994627,0.069955],[-0.008280,-0.069525,0.997546]]
2025-10-27T15:13:37.042Z,1761578017.042 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.733410
2025-10-27T15:13:37.292Z,1761578017.292 [DAT](INFO): DAT read: Rx Time:15:13:35.9539 

2025-10-27T15:13:37.293Z,1761578017.293 [DAT](INFO): Rx dataTimestamp_ set to:1761578017.292306
2025-10-27T15:13:37.294Z,1761578017.294 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:37.294Z,1761578017.294 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-10-27T15:13:37.295Z,1761578017.295 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.987011
2025-10-27T15:13:37.357Z,1761578017.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994475,-0.104960,-0.001900],[0.104896,0.992825,0.057412],[-0.004140,-0.057295,0.998349]]
2025-10-27T15:13:37.545Z,1761578017.545 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.236242
2025-10-27T15:13:37.764Z,1761578017.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990610,-0.136631,-0.004936],[0.136718,0.989776,0.040640],[-0.000667,-0.040934,0.999162]]
2025-10-27T15:13:37.796Z,1761578017.796 [DAT](INFO): DAT read: Rx Time:15:13:36.4538 

2025-10-27T15:13:37.797Z,1761578017.797 [DAT](INFO): Rx dataTimestamp_ set to:1761578017.796352
2025-10-27T15:13:37.798Z,1761578017.798 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:37.798Z,1761578017.798 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-10-27T15:13:37.799Z,1761578017.799 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.491007
2025-10-27T15:13:38.049Z,1761578018.049 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.740734
2025-10-27T15:13:38.166Z,1761578018.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985454,-0.169789,-0.007227],[0.169919,0.985136,0.025196],[0.002842,-0.026058,0.999656]]
2025-10-27T15:13:38.300Z,1761578018.300 [DAT](INFO): DAT read: Rx Time:15:13:36.9539 

2025-10-27T15:13:38.301Z,1761578018.301 [DAT](INFO): Rx dataTimestamp_ set to:1761578018.300565
2025-10-27T15:13:38.302Z,1761578018.302 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:38.303Z,1761578018.303 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-10-27T15:13:38.304Z,1761578018.304 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.995239
2025-10-27T15:13:38.552Z,1761578018.552 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.243584
2025-10-27T15:13:38.588Z,1761578018.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972764,-0.231274,-0.015585],[0.231568,0.972596,0.020799],[0.010347,-0.023842,0.999662]]
2025-10-27T15:13:38.804Z,1761578018.804 [DAT](INFO): DAT read: Rx Time:15:13:37.4538 

2025-10-27T15:13:38.805Z,1761578018.805 [DAT](INFO): Rx dataTimestamp_ set to:1761578018.804314
2025-10-27T15:13:38.806Z,1761578018.806 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:38.806Z,1761578018.806 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-10-27T15:13:38.807Z,1761578018.807 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.499014
2025-10-27T15:13:39.056Z,1761578019.056 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.747580
2025-10-27T15:13:39.308Z,1761578019.308 [DAT](INFO): DAT read: Rx Time:15:13:37.9539 

2025-10-27T15:13:39.309Z,1761578019.309 [DAT](INFO): Rx dataTimestamp_ set to:1761578019.308277
2025-10-27T15:13:39.310Z,1761578019.310 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:39.310Z,1761578019.310 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-10-27T15:13:39.311Z,1761578019.311 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.003014
2025-10-27T15:13:39.393Z,1761578019.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960475,-0.276889,-0.028656],[0.277612,0.960359,0.025354],[0.020500,-0.032307,0.999268]]
2025-10-27T15:13:39.560Z,1761578019.560 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.251549
2025-10-27T15:13:39.815Z,1761578019.815 [DAT](INFO): DAT read: Rx Time:15:13:38.4538 

2025-10-27T15:13:39.815Z,1761578019.815 [DAT](INFO): Rx dataTimestamp_ set to:1761578019.814806
2025-10-27T15:13:39.816Z,1761578019.816 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:39.817Z,1761578019.817 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-10-27T15:13:39.818Z,1761578019.818 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.509375
2025-10-27T15:13:40.068Z,1761578020.068 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.759493
2025-10-27T15:13:40.192Z,1761578020.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954570,-0.294652,-0.044466],[0.296530,0.954008,0.044041],[0.029444,-0.055226,0.998040]]
2025-10-27T15:13:40.320Z,1761578020.320 [DAT](INFO): DAT read: Rx Time:15:13:38.9539 

2025-10-27T15:13:40.321Z,1761578020.321 [DAT](INFO): Rx dataTimestamp_ set to:1761578020.320327
2025-10-27T15:13:40.322Z,1761578020.322 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:40.322Z,1761578020.322 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-10-27T15:13:40.323Z,1761578020.323 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.015001
2025-10-27T15:13:40.572Z,1761578020.572 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.263447
2025-10-27T15:13:40.595Z,1761578020.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955481,-0.290628,-0.050907],[0.293264,0.954416,0.055557],[0.032441,-0.068013,0.997157]]
2025-10-27T15:13:40.824Z,1761578020.824 [DAT](INFO): DAT read: Rx Time:15:13:39.4538 

2025-10-27T15:13:40.825Z,1761578020.825 [DAT](INFO): Rx dataTimestamp_ set to:1761578020.824358
2025-10-27T15:13:40.826Z,1761578020.826 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:40.826Z,1761578020.826 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-10-27T15:13:40.827Z,1761578020.827 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.519062
2025-10-27T15:13:40.998Z,1761578020.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958592,-0.279438,-0.054917],[0.282751,0.956884,0.066515],[0.033963,-0.079289,0.996273]]
2025-10-27T15:13:41.077Z,1761578021.077 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.768200
2025-10-27T15:13:41.328Z,1761578021.328 [DAT](INFO): DAT read: Rx Time:15:13:39.9538 

2025-10-27T15:13:41.328Z,1761578021.328 [DAT](INFO): Rx dataTimestamp_ set to:1761578021.328196
2025-10-27T15:13:41.330Z,1761578021.330 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:41.330Z,1761578021.330 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-10-27T15:13:41.331Z,1761578021.331 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.022846
2025-10-27T15:13:41.417Z,1761578021.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963856,-0.260519,-0.055787],[0.264239,0.961525,0.075145],[0.034064,-0.087170,0.995611]]
2025-10-27T15:13:41.584Z,1761578021.584 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.275768
2025-10-27T15:13:41.803Z,1761578021.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970507,-0.235130,-0.053198],[0.238869,0.967700,0.080615],[0.032525,-0.090945,0.995325]]
2025-10-27T15:13:41.836Z,1761578021.836 [DAT](INFO): DAT read: Rx Time:15:13:40.4537 

2025-10-27T15:13:41.837Z,1761578021.837 [DAT](INFO): Rx dataTimestamp_ set to:1761578021.836405
2025-10-27T15:13:41.838Z,1761578021.838 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:41.838Z,1761578021.838 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-10-27T15:13:41.840Z,1761578021.840 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.531696
2025-10-27T15:13:42.088Z,1761578022.088 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.779575
2025-10-27T15:13:42.206Z,1761578022.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977924,-0.203583,-0.047094],[0.206901,0.974933,0.081837],[0.029253,-0.089774,0.995532]]
2025-10-27T15:13:42.340Z,1761578022.341 [DAT](INFO): DAT read: Rx Time:15:13:40.9539 

2025-10-27T15:13:42.341Z,1761578022.341 [DAT](INFO): Rx dataTimestamp_ set to:1761578022.340694
2025-10-27T15:13:42.342Z,1761578022.342 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:42.343Z,1761578022.343 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-10-27T15:13:42.344Z,1761578022.344 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.035349
2025-10-27T15:13:42.592Z,1761578022.592 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.283594
2025-10-27T15:13:42.610Z,1761578022.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985441,-0.165530,-0.038810],[0.168152,0.982621,0.078616],[0.025122,-0.083998,0.996149]]
2025-10-27T15:13:42.844Z,1761578022.844 [DAT](INFO): DAT read: Rx Time:15:13:41.4537 

2025-10-27T15:13:42.845Z,1761578022.845 [DAT](INFO): Rx dataTimestamp_ set to:1761578022.844460
2025-10-27T15:13:42.846Z,1761578022.846 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:42.847Z,1761578022.847 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-10-27T15:13:42.848Z,1761578022.848 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.539885
2025-10-27T15:13:43.022Z,1761578023.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992042,-0.122458,-0.029266],[0.124267,0.989697,0.071115],[0.020256,-0.074186,0.997039]]
2025-10-27T15:13:43.096Z,1761578023.096 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.787592
2025-10-27T15:13:43.348Z,1761578023.348 [DAT](INFO): DAT read: Rx Time:15:13:41.9538 

2025-10-27T15:13:43.349Z,1761578023.349 [DAT](INFO): Rx dataTimestamp_ set to:1761578023.348313
2025-10-27T15:13:43.350Z,1761578023.350 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:43.350Z,1761578023.350 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-10-27T15:13:43.351Z,1761578023.351 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.042957
2025-10-27T15:13:43.419Z,1761578023.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996885,-0.076277,-0.020047],[0.077363,0.995164,0.060521],[0.015334,-0.061884,0.997966]]
2025-10-27T15:13:43.600Z,1761578023.600 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.291622
2025-10-27T15:13:43.821Z,1761578023.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999494,-0.029113,-0.012782],[0.029708,0.998351,0.049123],[0.011331,-0.049478,0.998711]]
2025-10-27T15:13:43.852Z,1761578023.852 [DAT](INFO): DAT read: Rx Time:15:13:42.4537 

2025-10-27T15:13:43.853Z,1761578023.853 [DAT](INFO): Rx dataTimestamp_ set to:1761578023.852271
2025-10-27T15:13:43.854Z,1761578023.854 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:43.854Z,1761578023.854 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-10-27T15:13:43.855Z,1761578023.855 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.546919
2025-10-27T15:13:44.104Z,1761578024.104 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.795534
2025-10-27T15:13:44.225Z,1761578024.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999829,0.016661,-0.007963],[-0.016341,0.999118,0.038676],[0.008601,-0.038539,0.999220]]
2025-10-27T15:13:44.357Z,1761578024.357 [DAT](INFO): DAT read: Rx Time:15:13:42.9539 

2025-10-27T15:13:44.357Z,1761578024.357 [DAT](INFO): Rx dataTimestamp_ set to:1761578024.356902
2025-10-27T15:13:44.359Z,1761578024.359 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:44.360Z,1761578024.360 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-10-27T15:13:44.361Z,1761578024.361 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.052483
2025-10-27T15:13:44.608Z,1761578024.608 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.299461
2025-10-27T15:13:44.860Z,1761578024.860 [DAT](INFO): DAT read: Rx Time:15:13:43.4538 

2025-10-27T15:13:44.861Z,1761578024.861 [DAT](INFO): Rx dataTimestamp_ set to:1761578024.860398
2025-10-27T15:13:44.862Z,1761578024.862 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:44.862Z,1761578024.862 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-10-27T15:13:44.863Z,1761578024.863 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.555063
2025-10-27T15:13:45.042Z,1761578025.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995452,0.095029,-0.006722],[-0.094813,0.995121,0.027303],[0.009284,-0.026542,0.999605]]
2025-10-27T15:13:45.112Z,1761578025.112 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.803608
2025-10-27T15:13:45.364Z,1761578025.364 [DAT](INFO): DAT read: Rx Time:15:13:43.9538 

2025-10-27T15:13:45.365Z,1761578025.365 [DAT](INFO): Rx dataTimestamp_ set to:1761578025.364252
2025-10-27T15:13:45.366Z,1761578025.366 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed -0.1

2025-10-27T15:13:45.366Z,1761578025.366 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-10-27T15:13:45.367Z,1761578025.367 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.058937
2025-10-27T15:13:45.438Z,1761578025.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991924,0.126495,-0.009304],[-0.126182,0.991588,0.028821],[0.012871,-0.027414,0.999541]]
2025-10-27T15:13:45.616Z,1761578025.616 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.307522
2025-10-27T15:13:45.841Z,1761578025.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988219,0.152380,-0.014275],[-0.151953,0.988010,0.027322],[0.018267,-0.024831,0.999525]]
2025-10-27T15:13:45.868Z,1761578025.868 [DAT](INFO): DAT read: Rx Time:15:13:44.4537 

2025-10-27T15:13:45.869Z,1761578025.869 [DAT](INFO): Rx dataTimestamp_ set to:1761578025.868297
2025-10-27T15:13:45.870Z,1761578025.870 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:45.870Z,1761578025.870 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-10-27T15:13:45.871Z,1761578025.871 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.562962
2025-10-27T15:13:46.124Z,1761578026.124 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.814777
2025-10-27T15:13:46.245Z,1761578026.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984912,0.171790,-0.020901],[-0.171241,0.984893,0.025719],[0.025004,-0.021752,0.999451]]
2025-10-27T15:13:46.372Z,1761578026.372 [DAT](INFO): DAT read: Rx Time:15:13:44.9536 

2025-10-27T15:13:46.373Z,1761578026.373 [DAT](INFO): Rx dataTimestamp_ set to:1761578026.372301
2025-10-27T15:13:46.374Z,1761578026.374 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:46.374Z,1761578026.374 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-10-27T15:13:46.375Z,1761578026.375 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.066944
2025-10-27T15:13:46.627Z,1761578026.627 [DAT](INFO): DAT read: Rx Time:15:13:45.4535 

2025-10-27T15:13:46.628Z,1761578026.628 [DAT](INFO): Rx dataTimestamp_ set to:1761578026.627443
2025-10-27T15:13:46.630Z,1761578026.630 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.321190
2025-10-27T15:13:46.661Z,1761578026.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982492,0.183979,-0.029332],[-0.183358,0.982786,0.022631],[0.032991,-0.016857,0.999313]]
2025-10-27T15:13:46.877Z,1761578026.877 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:46.877Z,1761578026.877 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-10-27T15:13:46.878Z,1761578026.878 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.569733
2025-10-27T15:13:47.054Z,1761578027.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981116,0.189426,-0.039094],[-0.188800,0.981828,0.019182],[0.042017,-0.011439,0.999051]]
2025-10-27T15:13:47.132Z,1761578027.132 [DAT](INFO): DAT read: Rx Time:15:13:45.9536 

2025-10-27T15:13:47.134Z,1761578027.134 [DAT](INFO): Rx dataTimestamp_ set to:1761578027.132820
2025-10-27T15:13:47.135Z,1761578027.135 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.826431
2025-10-27T15:13:47.380Z,1761578027.380 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:47.381Z,1761578027.381 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-10-27T15:13:47.382Z,1761578027.382 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.073647
2025-10-27T15:13:47.458Z,1761578027.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980949,0.188097,-0.048574],[-0.187445,0.982116,0.017676],[0.051030,-0.008235,0.998663]]
2025-10-27T15:13:47.635Z,1761578027.635 [DAT](INFO): DAT read: Rx Time:15:13:46.4535 

2025-10-27T15:13:47.636Z,1761578027.636 [DAT](INFO): Rx dataTimestamp_ set to:1761578027.635275
2025-10-27T15:13:47.636Z,1761578027.636 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.327732
2025-10-27T15:13:47.862Z,1761578027.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981776,0.180303,-0.060056],[-0.179856,0.983609,0.012824],[0.061384,-0.001789,0.998113]]
2025-10-27T15:13:47.885Z,1761578027.885 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:47.885Z,1761578027.885 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-10-27T15:13:47.886Z,1761578027.886 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.577785
2025-10-27T15:13:48.139Z,1761578028.139 [DAT](INFO): DAT read: Rx Time:15:13:46.9537 

2025-10-27T15:13:48.139Z,1761578028.139 [DAT](INFO): Rx dataTimestamp_ set to:1761578028.138827
2025-10-27T15:13:48.140Z,1761578028.140 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:48.141Z,1761578028.141 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-10-27T15:13:48.142Z,1761578028.142 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.833385
2025-10-27T15:13:48.268Z,1761578028.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983326,0.167195,-0.071533],[-0.166934,0.985921,0.009651],[0.072139,0.002451,0.997392]]
2025-10-27T15:13:48.388Z,1761578028.388 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.079514
2025-10-27T15:13:48.640Z,1761578028.640 [DAT](INFO): DAT read: Rx Time:15:13:47.4536 

2025-10-27T15:13:48.641Z,1761578028.641 [DAT](INFO): Rx dataTimestamp_ set to:1761578028.640293
2025-10-27T15:13:48.642Z,1761578028.642 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:48.642Z,1761578028.642 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-10-27T15:13:48.643Z,1761578028.643 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.334942
2025-10-27T15:13:48.670Z,1761578028.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985218,0.149871,-0.082969],[-0.149678,0.988698,0.008583],[0.083317,0.003962,0.996515]]
2025-10-27T15:13:48.892Z,1761578028.892 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.583458
2025-10-27T15:13:49.073Z,1761578029.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987258,0.128443,-0.093939],[-0.128156,0.991712,0.009111],[0.094331,0.003044,0.995536]]
2025-10-27T15:13:49.144Z,1761578029.144 [DAT](INFO): DAT read: Rx Time:15:13:47.9536 

2025-10-27T15:13:49.145Z,1761578029.145 [DAT](INFO): Rx dataTimestamp_ set to:1761578029.144435
2025-10-27T15:13:49.146Z,1761578029.146 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:49.146Z,1761578029.146 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-10-27T15:13:49.147Z,1761578029.147 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.839096
2025-10-27T15:13:49.396Z,1761578029.396 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.087753
2025-10-27T15:13:49.479Z,1761578029.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989157,0.103230,-0.104462],[-0.102689,0.994658,0.010551],[0.104993,0.000290,0.994473]]
2025-10-27T15:13:49.648Z,1761578029.648 [DAT](INFO): DAT read: Rx Time:15:13:48.4535 

2025-10-27T15:13:49.649Z,1761578029.649 [DAT](INFO): Rx dataTimestamp_ set to:1761578029.648341
2025-10-27T15:13:49.650Z,1761578029.650 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:49.650Z,1761578029.650 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-10-27T15:13:49.651Z,1761578029.651 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.343006
2025-10-27T15:13:49.881Z,1761578029.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990471,0.075664,-0.115075],[-0.074699,0.997125,0.012683],[0.115704,-0.003967,0.993276]]
2025-10-27T15:13:49.900Z,1761578029.900 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.591591
2025-10-27T15:13:50.152Z,1761578030.152 [DAT](INFO): DAT read: Rx Time:15:13:48.9536 

2025-10-27T15:13:50.153Z,1761578030.153 [DAT](INFO): Rx dataTimestamp_ set to:1761578030.152378
2025-10-27T15:13:50.154Z,1761578030.154 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:50.154Z,1761578030.154 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-10-27T15:13:50.155Z,1761578030.155 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.847023
2025-10-27T15:13:50.285Z,1761578030.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991042,0.045605,-0.125523],[-0.044180,0.998924,0.014116],[0.126032,-0.008444,0.991990]]
2025-10-27T15:13:50.405Z,1761578030.405 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.096210
2025-10-27T15:13:50.656Z,1761578030.656 [DAT](INFO): DAT read: Rx Time:15:13:49.4535 

2025-10-27T15:13:50.657Z,1761578030.657 [DAT](INFO): Rx dataTimestamp_ set to:1761578030.656258
2025-10-27T15:13:50.658Z,1761578030.658 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:50.658Z,1761578030.658 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-10-27T15:13:50.659Z,1761578030.659 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.350925
2025-10-27T15:13:50.706Z,1761578030.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990601,0.014554,-0.136009],[-0.012581,0.999803,0.015355],[0.136205,-0.013499,0.990589]]
2025-10-27T15:13:50.908Z,1761578030.908 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.599548
2025-10-27T15:13:51.137Z,1761578031.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989061,-0.014935,-0.146746],[0.017834,0.999671,0.018464],[0.146422,-0.020879,0.989002]]
2025-10-27T15:13:51.160Z,1761578031.160 [DAT](INFO): DAT read: Rx Time:15:13:49.9536 

2025-10-27T15:13:51.161Z,1761578031.161 [DAT](INFO): Rx dataTimestamp_ set to:1761578031.160310
2025-10-27T15:13:51.162Z,1761578031.162 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:51.162Z,1761578031.162 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-10-27T15:13:51.163Z,1761578031.163 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.854954
2025-10-27T15:13:51.412Z,1761578031.412 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.103607
2025-10-27T15:13:51.510Z,1761578031.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986610,-0.041535,-0.157723],[0.045624,0.998708,0.022391],[0.156589,-0.029287,0.987230]]
2025-10-27T15:13:51.664Z,1761578031.664 [DAT](INFO): DAT read: Rx Time:15:13:50.4538 

2025-10-27T15:13:51.665Z,1761578031.665 [DAT](INFO): Rx dataTimestamp_ set to:1761578031.664339
2025-10-27T15:13:51.666Z,1761578031.666 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:51.666Z,1761578031.666 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-10-27T15:13:51.667Z,1761578031.667 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.359013
2025-10-27T15:13:51.901Z,1761578031.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983660,-0.064049,-0.168258],[0.069335,0.997262,0.025725],[0.166150,-0.036971,0.985407]]
2025-10-27T15:13:51.917Z,1761578031.917 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.608154
2025-10-27T15:13:52.172Z,1761578032.172 [DAT](INFO): DAT read: Rx Time:15:13:50.9539 

2025-10-27T15:13:52.174Z,1761578032.174 [DAT](INFO): Rx dataTimestamp_ set to:1761578032.172873
2025-10-27T15:13:52.178Z,1761578032.178 [DAT](INFO): DAT read: Bearing 304.6,   6.8 (Local)

2025-10-27T15:13:52.179Z,1761578032.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.6,   6.8 (Local)

2025-10-27T15:13:52.181Z,1761578032.181 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:52.182Z,1761578032.182 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-10-27T15:13:52.197Z,1761578032.197 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.888790
2025-10-27T15:13:52.306Z,1761578032.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980753,-0.081342,-0.177503],[0.087433,0.995811,0.026755],[0.174583,-0.041759,0.983756]]
2025-10-27T15:13:52.424Z,1761578032.424 [DAT](INFO): DAT read: 15:13:50.9539 LVL= 24016, 29425, 12578, 32755, AGC= 36, IDX= 508,-0.05,-1.634,-0.101,-2.216,-0.510, PHS=-1.022, 0.454,-1.750, RAW= 348.9,  22.9, CAL= 348.7,  27.6, ROT= 161.3, -27.6

2025-10-27T15:13:52.426Z,1761578032.426 [DAT](INFO): got valid direction response:
 15:13:50.9539 LVL= 24016, 29425, 12578, 32755, AGC= 36, IDX= 508,-0.05,-1.634,-0.101,-2.216,-0.510, PHS=-1.022, 0.454,-1.750, RAW= 348.9,  22.9, CAL= 348.7,  27.6, ROT= 161.3, -27.6

2025-10-27T15:13:52.426Z,1761578032.426 [DAT](INFO): #Rx 75: Read direction message, but no range.
2025-10-27T15:13:52.427Z,1761578032.427 [DAT](INFO): direction in FSK: [-0.839421,0.284128,0.463296]
2025-10-27T15:13:52.430Z,1761578032.430 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.121880
2025-10-27T15:13:52.676Z,1761578032.676 [DAT](INFO): DAT read: Rx Time:15:13:51.4538 

2025-10-27T15:13:52.677Z,1761578032.677 [DAT](INFO): Rx dataTimestamp_ set to:1761578032.676600
2025-10-27T15:13:52.681Z,1761578032.681 [DAT](INFO): DAT read: Bearing 309.2, -24.7 (Local)

2025-10-27T15:13:52.681Z,1761578032.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.2, -24.7 (Local)

2025-10-27T15:13:52.683Z,1761578032.683 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:52.684Z,1761578032.684 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-10-27T15:13:52.684Z,1761578032.684 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.376080
2025-10-27T15:13:52.728Z,1761578032.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978563,-0.092764,-0.183874],[0.098326,0.994925,0.021350],[0.180961,-0.038972,0.982718]]
2025-10-27T15:13:52.928Z,1761578032.928 [DAT](INFO): DAT read: 15:13:51.4538 LVL= 25888, 24785, 13458, 32755, AGC= 36, IDX= 507,-0.08,-0.394, 1.121, 0.134, 0.734, PHS=-1.026, 0.432,-0.644, RAW= 315.4,  18.5, CAL= 314.6,  23.5, ROT= 195.4, -23.5

2025-10-27T15:13:52.929Z,1761578032.929 [DAT](INFO): got valid direction response:
 15:13:51.4538 LVL= 25888, 24785, 13458, 32755, AGC= 36, IDX= 507,-0.08,-0.394, 1.121, 0.134, 0.734, PHS=-1.026, 0.432,-0.644, RAW= 315.4,  18.5, CAL= 314.6,  23.5, ROT= 195.4, -23.5

2025-10-27T15:13:52.930Z,1761578032.930 [DAT](INFO): #Rx 77: Read direction message, but no range.
2025-10-27T15:13:52.930Z,1761578032.930 [DAT](INFO): direction in FSK: [-0.884133,-0.243531,0.398749]
2025-10-27T15:13:52.934Z,1761578032.934 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.625656
2025-10-27T15:13:53.113Z,1761578033.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977523,-0.098127,-0.186599],[0.101853,0.994744,0.010464],[0.184591,-0.029234,0.982381]]
2025-10-27T15:13:53.180Z,1761578033.180 [DAT](INFO): DAT read: Rx Time:15:13:51.9538 

2025-10-27T15:13:53.181Z,1761578033.181 [DAT](INFO): Rx dataTimestamp_ set to:1761578033.180259
2025-10-27T15:13:53.182Z,1761578033.182 [DAT](INFO): DAT read: Bearing 328.1, -58.0 (Local)

2025-10-27T15:13:53.182Z,1761578033.182 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.1, -58.0 (Local)

2025-10-27T15:13:53.184Z,1761578033.184 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:53.189Z,1761578033.189 [DAT](INFO): DAT read: 15:13:51.9538 LVL= 27632, 24273, 14482, 32755, AGC= 35, IDX= 507,-0.01, 0.743, 2.284, 1.990, 1.868, PHS=-1.023, 0.461, 0.078, RAW= 284.4,   7.3, CAL= 282.5,   5.4, ROT= 227.5,  -5.4

2025-10-27T15:13:53.190Z,1761578033.190 [DAT](INFO): got valid direction response:
 15:13:51.9538 LVL= 27632, 24273, 14482, 32755, AGC= 35, IDX= 507,-0.01, 0.743, 2.284, 1.990, 1.868, PHS=-1.023, 0.461, 0.078, RAW= 284.4,   7.3, CAL= 282.5,   5.4, ROT= 227.5,  -5.4

2025-10-27T15:13:53.190Z,1761578033.190 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-27T15:13:53.196Z,1761578033.196 [DAT](INFO): direction in FSK: [-0.672592,-0.734005,0.094108]
2025-10-27T15:13:53.196Z,1761578033.196 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:53.204Z,1761578033.204 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.895245
2025-10-27T15:13:53.428Z,1761578033.428 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.119442
2025-10-27T15:13:53.524Z,1761578033.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977664,-0.095149,-0.187403],[0.097143,0.995269,0.001464],[0.186377,-0.019636,0.982282]]
2025-10-27T15:13:53.682Z,1761578033.682 [DAT](INFO): DAT read: Rx Time:15:13:52.4537 

2025-10-27T15:13:53.682Z,1761578033.682 [DAT](INFO): Rx dataTimestamp_ set to:1761578033.682051
2025-10-27T15:13:53.684Z,1761578033.684 [DAT](INFO): DAT read: Bearing  72.9, -77.8 (Local)

2025-10-27T15:13:53.684Z,1761578033.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.9, -77.8 (Local)

2025-10-27T15:13:53.686Z,1761578033.686 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:53.691Z,1761578033.691 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-10-27T15:13:53.704Z,1761578033.704 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.395489
2025-10-27T15:13:53.921Z,1761578033.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978982,-0.081395,-0.187000],[0.083086,0.996542,0.001208],[0.186255,-0.016720,0.982359]]
2025-10-27T15:13:53.935Z,1761578033.935 [DAT](INFO): DAT read: 15:13:52.4537 LVL= 26432, 23937, 11970, 32755, AGC= 35, IDX= 506, 0.10, 0.642, 2.179, 2.993, 1.788, PHS=-1.044, 0.436, 1.161, RAW= 251.2,  -5.7, CAL= 248.9,  -9.9, ROT= 261.1,   9.9

2025-10-27T15:13:53.937Z,1761578033.937 [DAT](INFO): got valid direction response:
 15:13:52.4537 LVL= 26432, 23937, 11970, 32755, AGC= 35, IDX= 506, 0.10, 0.642, 2.179, 2.993, 1.788, PHS=-1.044, 0.436, 1.161, RAW= 251.2,  -5.7, CAL= 248.9,  -9.9, ROT= 261.1,   9.9

2025-10-27T15:13:53.937Z,1761578033.937 [DAT](INFO): #Rx 80: Read direction message, but no range.
2025-10-27T15:13:53.938Z,1761578033.938 [DAT](INFO): direction in FSK: [-0.152406,-0.973249,-0.171929]
2025-10-27T15:13:53.942Z,1761578033.942 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.633106
2025-10-27T15:13:54.185Z,1761578034.185 [DAT](INFO): DAT read: Rx Time:15:13:52.9539 

2025-10-27T15:13:54.185Z,1761578034.185 [DAT](INFO): Rx dataTimestamp_ set to:1761578034.184848
2025-10-27T15:13:54.187Z,1761578034.187 [DAT](INFO): DAT read: Bearing  75.3, -78.0 (Local)

2025-10-27T15:13:54.187Z,1761578034.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.3, -78.0 (Local)

2025-10-27T15:13:54.190Z,1761578034.190 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:54.213Z,1761578034.213 [DAT](INFO): DAT read: 15:13:52.9539 LVL= 26928, 24721, 13186, 32755, AGC= 35, IDX= 507, 0.26, 1.453, 3.024,-2.394, 2.634, PHS=-1.079, 0.435, 1.212, RAW= 250.5,  -5.7, CAL= 248.2,  -9.8, ROT= 261.8,   9.8

2025-10-27T15:13:54.214Z,1761578034.214 [DAT](INFO): got valid direction response:
 15:13:52.9539 LVL= 26928, 24721, 13186, 32755, AGC= 35, IDX= 507, 0.26, 1.453, 3.024,-2.394, 2.634, PHS=-1.079, 0.435, 1.212, RAW= 250.5,  -5.7, CAL= 248.2,  -9.8, ROT= 261.8,   9.8

2025-10-27T15:13:54.215Z,1761578034.215 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-27T15:13:54.220Z,1761578034.220 [DAT](INFO): direction in FSK: [-0.140548,-0.975333,-0.170209]
2025-10-27T15:13:54.220Z,1761578034.220 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:54.244Z,1761578034.244 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.935516
2025-10-27T15:13:54.335Z,1761578034.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980982,-0.056778,-0.185607],[0.059490,0.998188,0.009068],[0.184756,-0.019937,0.982582]]
2025-10-27T15:13:54.436Z,1761578034.436 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.128071
2025-10-27T15:13:54.689Z,1761578034.689 [DAT](INFO): DAT read: Rx Time:15:13:53.4538 

2025-10-27T15:13:54.690Z,1761578034.690 [DAT](INFO): Rx dataTimestamp_ set to:1761578034.689596
2025-10-27T15:13:54.691Z,1761578034.691 [DAT](INFO): DAT read: Bearing  55.5, -77.1 (Local)

2025-10-27T15:13:54.692Z,1761578034.692 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.5, -77.1 (Local)

2025-10-27T15:13:54.694Z,1761578034.694 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:54.698Z,1761578034.698 [DAT](INFO): DAT read: 15:13:53.4538 LVL= 27120, 25649, 14578, 32659, AGC= 36, IDX= 507,-0.48,-1.808,-0.101, 0.637,-0.595, PHS=-1.111, 0.539, 1.188, RAW= 254.1,  -6.1, CAL= 252.0, -10.6, ROT= 258.0,  10.6

2025-10-27T15:13:54.699Z,1761578034.699 [DAT](INFO): got valid direction response:
 15:13:53.4538 LVL= 27120, 25649, 14578, 32659, AGC= 36, IDX= 507,-0.48,-1.808,-0.101, 0.637,-0.595, PHS=-1.111, 0.539, 1.188, RAW= 254.1,  -6.1, CAL= 252.0, -10.6, ROT= 258.0,  10.6

2025-10-27T15:13:54.700Z,1761578034.700 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-27T15:13:54.701Z,1761578034.701 [DAT](INFO): direction in FSK: [-0.204364,-0.961456,-0.183951]
2025-10-27T15:13:54.701Z,1761578034.701 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:54.705Z,1761578034.705 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.396484
2025-10-27T15:13:54.776Z,1761578034.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983090,-0.022123,-0.181784],[0.026466,0.999418,0.021502],[0.181203,-0.025949,0.983103]]
2025-10-27T15:13:54.941Z,1761578034.941 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.632244
2025-10-27T15:13:55.190Z,1761578035.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984430,0.020135,-0.174618],[-0.014413,0.999319,0.033977],[0.175183,-0.030931,0.984050]]
2025-10-27T15:13:55.193Z,1761578035.193 [DAT](INFO): DAT read: Rx Time:15:13:53.9539 

2025-10-27T15:13:55.193Z,1761578035.193 [DAT](INFO): Rx dataTimestamp_ set to:1761578035.192773
2025-10-27T15:13:55.194Z,1761578035.194 [DAT](INFO): DAT read: Bearing  40.8, -76.3 (Local)

2025-10-27T15:13:55.195Z,1761578035.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.8, -76.3 (Local)

2025-10-27T15:13:55.197Z,1761578035.197 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:55.201Z,1761578035.201 [DAT](INFO): DAT read: 15:13:53.9539 LVL= 26400, 26481, 15010, 32755, AGC= 36, IDX= 508,-0.23,-1.985,-0.203, 0.435,-0.744, PHS=-1.139, 0.586, 1.135, RAW= 256.6,  -5.7, CAL= 254.6, -10.4, ROT= 255.4,  10.4

2025-10-27T15:13:55.203Z,1761578035.203 [DAT](INFO): got valid direction response:
 15:13:53.9539 LVL= 26400, 26481, 15010, 32755, AGC= 36, IDX= 508,-0.23,-1.985,-0.203, 0.435,-0.744, PHS=-1.139, 0.586, 1.135, RAW= 256.6,  -5.7, CAL= 254.6, -10.4, ROT= 255.4,  10.4

2025-10-27T15:13:55.203Z,1761578035.203 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-27T15:13:55.204Z,1761578035.204 [DAT](INFO): direction in FSK: [-0.247928,-0.951811,-0.180519]
2025-10-27T15:13:55.204Z,1761578035.204 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:55.209Z,1761578035.209 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.900192
2025-10-27T15:13:55.444Z,1761578035.444 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.135582
2025-10-27T15:13:55.559Z,1761578035.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984040,0.068585,-0.164202],[-0.061935,0.997052,0.045286],[0.166824,-0.034394,0.985387]]
2025-10-27T15:13:55.697Z,1761578035.697 [DAT](INFO): DAT read: Rx Time:15:13:54.4538 

2025-10-27T15:13:55.697Z,1761578035.697 [DAT](INFO): Rx dataTimestamp_ set to:1761578035.696785
2025-10-27T15:13:55.698Z,1761578035.698 [DAT](INFO): DAT read: Bearing  50.8, -76.2 (Local)

2025-10-27T15:13:55.699Z,1761578035.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.8, -76.2 (Local)

2025-10-27T15:13:55.701Z,1761578035.701 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:13:55.718Z,1761578035.718 [DAT](INFO): DAT read: 15:13:54.4538 LVL= 23760, 25025, 14802, 32755, AGC= 36, IDX= 507,-0.00, 2.510,-2.000,-1.181,-2.514, PHS=-1.158, 0.558, 1.289, RAW= 253.1,  -6.4, CAL= 251.0, -10.9, ROT= 259.0,  10.9

2025-10-27T15:13:55.719Z,1761578035.719 [DAT](INFO): got valid direction response:
 15:13:54.4538 LVL= 23760, 25025, 14802, 32755, AGC= 36, IDX= 507,-0.00, 2.510,-2.000,-1.181,-2.514, PHS=-1.158, 0.558, 1.289, RAW= 253.1,  -6.4, CAL= 251.0, -10.9, ROT= 259.0,  10.9

2025-10-27T15:13:55.720Z,1761578035.720 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-27T15:13:55.721Z,1761578035.721 [DAT](INFO): direction in FSK: [-0.187366,-0.963917,-0.189095]
2025-10-27T15:13:55.722Z,1761578035.722 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:55.769Z,1761578035.769 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.460682
2025-10-27T15:13:55.948Z,1761578035.948 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.639523
2025-10-27T15:13:56.018Z,1761578036.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981007,0.121191,-0.151456],[-0.113875,0.991909,0.056114],[0.157031,-0.037802,0.986870]]
2025-10-27T15:13:56.204Z,1761578036.204 [DAT](INFO): DAT read: Rx Time:15:13:54.9539 

2025-10-27T15:13:56.204Z,1761578036.204 [DAT](INFO): Rx dataTimestamp_ set to:1761578036.204041
2025-10-27T15:13:56.205Z,1761578036.205 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:56.206Z,1761578036.206 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-10-27T15:13:56.207Z,1761578036.207 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.898682
2025-10-27T15:13:56.398Z,1761578036.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974617,0.177132,-0.136919],[-0.169412,0.983319,0.066209],[0.146363,-0.041333,0.988367]]
2025-10-27T15:13:56.452Z,1761578036.452 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.143604
2025-10-27T15:13:56.705Z,1761578036.705 [DAT](INFO): DAT read: Rx Time:15:13:55.4539 

2025-10-27T15:13:56.705Z,1761578036.705 [DAT](INFO): Rx dataTimestamp_ set to:1761578036.704695
2025-10-27T15:13:56.706Z,1761578036.706 [DAT](INFO): DAT read: Bearing  41.2, -77.6 (Local)

2025-10-27T15:13:56.707Z,1761578036.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.2, -77.6 (Local)

2025-10-27T15:13:56.709Z,1761578036.709 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:56.713Z,1761578036.713 [DAT](INFO): DAT read: 15:13:55.4539 LVL= 20784, 31313, 16882, 25587, AGC= 34, IDX= 508,-0.31,-2.397,-0.705, 0.113,-1.142, PHS=-1.153, 0.482, 1.211, RAW= 252.5,  -5.2, CAL= 250.0,  -9.3, ROT= 260.0,   9.3

2025-10-27T15:13:56.714Z,1761578036.714 [DAT](INFO): got valid direction response:
 15:13:55.4539 LVL= 20784, 31313, 16882, 25587, AGC= 34, IDX= 508,-0.31,-2.397,-0.705, 0.113,-1.142, PHS=-1.153, 0.482, 1.211, RAW= 252.5,  -5.2, CAL= 250.0,  -9.3, ROT= 260.0,   9.3

2025-10-27T15:13:56.715Z,1761578036.715 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-27T15:13:56.716Z,1761578036.716 [DAT](INFO): direction in FSK: [-0.171366,-0.971863,-0.161604]
2025-10-27T15:13:56.716Z,1761578036.716 [DAT](INFO): publishing direction and range info
2025-10-27T15:13:56.757Z,1761578036.757 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.448219
2025-10-27T15:13:56.815Z,1761578036.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964956,0.232600,-0.121482],[-0.225036,0.971623,0.072848],[0.134979,-0.042957,0.989917]]
2025-10-27T15:13:56.956Z,1761578036.956 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.647663
2025-10-27T15:13:57.208Z,1761578037.208 [DAT](INFO): DAT read: Rx Time:15:13:55.9539 

2025-10-27T15:13:57.209Z,1761578037.209 [DAT](INFO): Rx dataTimestamp_ set to:1761578037.208331
2025-10-27T15:13:57.210Z,1761578037.210 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:13:57.210Z,1761578037.210 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-10-27T15:13:57.211Z,1761578037.211 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.902977
2025-10-27T15:13:57.240Z,1761578037.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952348,0.285935,-0.106179],[-0.278964,0.957301,0.075856],[0.123335,-0.042621,0.991449]]
2025-10-27T15:13:57.461Z,1761578037.461 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.152119
2025-10-27T15:13:57.609Z,1761578037.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937818,0.334565,-0.092540],[-0.328491,0.941527,0.074966],[0.112210,-0.039906,0.992883]]
2025-10-27T15:13:57.713Z,1761578037.713 [DAT](INFO): DAT read: Rx Time:15:13:56.4535 

2025-10-27T15:13:57.714Z,1761578037.714 [DAT](INFO): Rx dataTimestamp_ set to:1761578037.713515
2025-10-27T15:13:57.721Z,1761578037.721 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:57.722Z,1761578037.722 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-10-27T15:13:57.728Z,1761578037.728 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.419571
2025-10-27T15:13:57.964Z,1761578037.964 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.655483
2025-10-27T15:13:58.019Z,1761578038.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922433,0.377191,-0.082727],[-0.372392,0.925588,0.067902],[0.102183,-0.031828,0.994256]]
2025-10-27T15:13:58.216Z,1761578038.216 [DAT](INFO): DAT read: Rx Time:15:13:56.9536 

2025-10-27T15:13:58.217Z,1761578038.217 [DAT](INFO): Rx dataTimestamp_ set to:1761578038.216345
2025-10-27T15:13:58.218Z,1761578038.218 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:13:58.218Z,1761578038.218 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-10-27T15:13:58.219Z,1761578038.219 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.910992
2025-10-27T15:13:58.418Z,1761578038.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907002,0.414922,-0.072023],[-0.410736,0.909346,0.066218],[0.092969,-0.030477,0.995202]]
2025-10-27T15:13:58.468Z,1761578038.468 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.159657
2025-10-27T15:13:58.721Z,1761578038.721 [DAT](INFO): DAT read: Rx Time:15:13:57.4535 

2025-10-27T15:13:58.721Z,1761578038.721 [DAT](INFO): Rx dataTimestamp_ set to:1761578038.720795
2025-10-27T15:13:58.723Z,1761578038.723 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:58.724Z,1761578038.724 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-10-27T15:13:58.725Z,1761578038.725 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.416672
2025-10-27T15:13:58.822Z,1761578038.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891600,0.448617,-0.061590],[-0.444869,0.893178,0.065759],[0.084511,-0.031231,0.995933]]
2025-10-27T15:13:58.972Z,1761578038.972 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.663651
2025-10-27T15:13:59.224Z,1761578039.224 [DAT](INFO): DAT read: Rx Time:15:13:57.9537 

2025-10-27T15:13:59.225Z,1761578039.225 [DAT](INFO): Rx dataTimestamp_ set to:1761578039.224223
2025-10-27T15:13:59.226Z,1761578039.226 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:13:59.226Z,1761578039.226 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-10-27T15:13:59.227Z,1761578039.227 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.918945
2025-10-27T15:13:59.238Z,1761578039.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877421,0.475532,-0.063261],[-0.473264,0.879614,0.047958],[0.078451,-0.012140,0.996844]]
2025-10-27T15:13:59.477Z,1761578039.477 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.168282
2025-10-27T15:13:59.638Z,1761578039.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864849,0.497144,-0.069881],[-0.496443,0.867608,0.028308],[0.074702,0.010210,0.997154]]
2025-10-27T15:13:59.729Z,1761578039.729 [DAT](INFO): DAT read: Rx Time:15:13:58.4535 

2025-10-27T15:13:59.730Z,1761578039.730 [DAT](INFO): Rx dataTimestamp_ set to:1761578039.729201
2025-10-27T15:13:59.731Z,1761578039.731 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:13:59.732Z,1761578039.732 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-10-27T15:13:59.733Z,1761578039.733 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.425064
2025-10-27T15:13:59.984Z,1761578039.984 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.674831
2025-10-27T15:14:00.034Z,1761578040.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854254,0.514098,-0.077162],[-0.514688,0.857270,0.013563],[0.073121,0.028128,0.996926]]
2025-10-27T15:14:00.232Z,1761578040.232 [DAT](INFO): DAT read: Rx Time:15:13:58.9536 

2025-10-27T15:14:00.233Z,1761578040.233 [DAT](INFO): Rx dataTimestamp_ set to:1761578040.232246
2025-10-27T15:14:00.234Z,1761578040.234 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:14:00.234Z,1761578040.234 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-10-27T15:14:00.235Z,1761578040.235 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.926914
2025-10-27T15:14:00.439Z,1761578040.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845614,0.527493,-0.081781],[-0.528618,0.848812,0.008996],[0.074162,0.035624,0.996610]]
2025-10-27T15:14:00.490Z,1761578040.490 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.180897
2025-10-27T15:14:00.741Z,1761578040.741 [DAT](INFO): DAT read: Rx Time:15:13:59.4536 

2025-10-27T15:14:00.741Z,1761578040.741 [DAT](INFO): Rx dataTimestamp_ set to:1761578040.741177
2025-10-27T15:14:00.743Z,1761578040.743 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:14:00.744Z,1761578040.744 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-10-27T15:14:00.745Z,1761578040.745 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.436733
2025-10-27T15:14:00.841Z,1761578040.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838345,0.538952,-0.081900],[-0.539509,0.841807,0.017081],[0.078150,0.029866,0.996494]]
2025-10-27T15:14:00.993Z,1761578040.993 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.684196
2025-10-27T15:14:01.244Z,1761578041.244 [DAT](INFO): DAT read: Rx Time:15:13:59.9536 

2025-10-27T15:14:01.245Z,1761578041.245 [DAT](INFO): Rx dataTimestamp_ set to:1761578041.244349
2025-10-27T15:14:01.246Z,1761578041.246 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:14:01.246Z,1761578041.246 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-27T15:14:01.247Z,1761578041.247 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.938999
2025-10-27T15:14:01.252Z,1761578041.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832577,0.548344,-0.078319],[-0.547505,0.836122,0.033747],[0.083990,0.014783,0.996357]]
2025-10-27T15:14:01.497Z,1761578041.497 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.188301
2025-10-27T15:14:01.652Z,1761578041.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828301,0.555446,-0.073463],[-0.552835,0.831543,0.053945],[0.091051,-0.004070,0.995838]]
2025-10-27T15:14:01.754Z,1761578041.754 [DAT](INFO): DAT read: Rx Time:15:14:00.4534 

2025-10-27T15:14:01.754Z,1761578041.754 [DAT](INFO): Rx dataTimestamp_ set to:1761578041.754038
2025-10-27T15:14:01.756Z,1761578041.756 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T15:14:01.757Z,1761578041.757 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-10-27T15:14:01.758Z,1761578041.758 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.449360
2025-10-27T15:14:02.007Z,1761578042.007 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.697685
2025-10-27T15:14:02.053Z,1761578042.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825351,0.560295,-0.069750],[-0.556031,0.828035,0.072026],[0.098111,-0.020664,0.994961]]
2025-10-27T15:14:02.256Z,1761578042.256 [DAT](INFO): DAT read: Rx Time:15:14:00.9535 

2025-10-27T15:14:02.257Z,1761578042.257 [DAT](INFO): Rx dataTimestamp_ set to:1761578042.256281
2025-10-27T15:14:02.258Z,1761578042.258 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T15:14:02.258Z,1761578042.258 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-10-27T15:14:02.259Z,1761578042.259 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.950970
2025-10-27T15:14:02.459Z,1761578042.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823301,0.563350,-0.069371],[-0.557851,0.825647,0.084311],[0.104772,-0.030715,0.994022]]
2025-10-27T15:14:02.508Z,1761578042.508 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.199608
2025-10-27T15:14:02.760Z,1761578042.760 [DAT](INFO): DAT read: Rx Time:15:14:01.4534 

2025-10-27T15:14:02.761Z,1761578042.761 [DAT](INFO): Rx dataTimestamp_ set to:1761578042.760260
2025-10-27T15:14:02.762Z,1761578042.762 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T15:14:02.762Z,1761578042.762 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-10-27T15:14:02.763Z,1761578042.763 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.454914
2025-10-27T15:14:02.861Z,1761578042.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822276,0.564450,-0.072514],[-0.558255,0.824792,0.089833],[0.110515,-0.033387,0.993313]]
2025-10-27T15:14:03.013Z,1761578043.013 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.705070
2025-10-27T15:14:03.264Z,1761578043.264 [DAT](INFO): DAT read: Rx Time:15:14:01.9536 

2025-10-27T15:14:03.264Z,1761578043.264 [DAT](INFO): Rx dataTimestamp_ set to:1761578043.264139
2025-10-27T15:14:03.266Z,1761578043.266 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:14:03.266Z,1761578043.266 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-10-27T15:14:03.267Z,1761578043.267 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.958775
2025-10-27T15:14:03.270Z,1761578043.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821495,0.564899,-0.077688],[-0.558280,0.824529,0.092061],[0.116062,-0.032256,0.992718]]
2025-10-27T15:14:03.516Z,1761578043.516 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.207474
2025-10-27T15:14:03.669Z,1761578043.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820705,0.565359,-0.082543],[-0.558319,0.824251,0.094287],[0.121342,-0.031297,0.992117]]
2025-10-27T15:14:03.768Z,1761578043.768 [DAT](INFO): DAT read: Rx Time:15:14:02.4535 

2025-10-27T15:14:03.769Z,1761578043.769 [DAT](INFO): Rx dataTimestamp_ set to:1761578043.768310
2025-10-27T15:14:03.770Z,1761578043.770 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed -0.1

2025-10-27T15:14:03.771Z,1761578043.771 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-10-27T15:14:03.773Z,1761578043.773 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.464287
2025-10-27T15:14:04.023Z,1761578044.023 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.713436
2025-10-27T15:14:04.078Z,1761578044.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819361,0.566801,-0.085926],[-0.559033,0.823181,0.099270],[0.126999,-0.033303,0.991344]]
2025-10-27T15:14:04.272Z,1761578044.272 [DAT](INFO): DAT read: Rx Time:15:14:02.9539 

2025-10-27T15:14:04.273Z,1761578044.273 [DAT](INFO): Rx dataTimestamp_ set to:1761578044.272265
2025-10-27T15:14:04.274Z,1761578044.274 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:14:04.274Z,1761578044.274 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-10-27T15:14:04.275Z,1761578044.275 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.966972
2025-10-27T15:14:04.486Z,1761578044.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817107,0.570020,-0.086105],[-0.561055,0.820641,0.108466],[0.132489,-0.040319,0.990364]]
2025-10-27T15:14:04.524Z,1761578044.524 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.215645
2025-10-27T15:14:04.776Z,1761578044.776 [DAT](INFO): DAT read: Rx Time:15:14:03.4538 

2025-10-27T15:14:04.777Z,1761578044.777 [DAT](INFO): Rx dataTimestamp_ set to:1761578044.776251
2025-10-27T15:14:04.778Z,1761578044.778 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:04.778Z,1761578044.778 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-10-27T15:14:04.779Z,1761578044.779 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.470898
2025-10-27T15:14:04.882Z,1761578044.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813188,0.575943,-0.083749],[-0.565373,0.815885,0.121185],[0.138125,-0.051197,0.989091]]
2025-10-27T15:14:05.031Z,1761578045.031 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.721706
2025-10-27T15:14:05.281Z,1761578045.281 [DAT](INFO): DAT read: Rx Time:15:14:03.9538 

2025-10-27T15:14:05.281Z,1761578045.281 [DAT](INFO): Rx dataTimestamp_ set to:1761578045.280825
2025-10-27T15:14:05.282Z,1761578045.282 [DAT](INFO): DAT read: Bearing 268.7, -31.0 (Local)

2025-10-27T15:14:05.283Z,1761578045.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.7, -31.0 (Local)

2025-10-27T15:14:05.285Z,1761578045.285 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:05.289Z,1761578045.289 [DAT](INFO): DAT read: 15:14:03.9538 LVL= 20016, 32753, 14130, 30483, AGC= 35, IDX= 508,-0.03,-2.868,-1.161,-2.081,-1.561, PHS=-1.205, 0.445,-0.563, RAW= 307.3,  18.0, CAL= 306.1,  23.6, ROT= 203.9, -23.6

2025-10-27T15:14:05.291Z,1761578045.291 [DAT](INFO): got valid direction response:
 15:14:03.9538 LVL= 20016, 32753, 14130, 30483, AGC= 35, IDX= 508,-0.03,-2.868,-1.161,-2.081,-1.561, PHS=-1.205, 0.445,-0.563, RAW= 307.3,  18.0, CAL= 306.1,  23.6, ROT= 203.9, -23.6

2025-10-27T15:14:05.291Z,1761578045.291 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-27T15:14:05.292Z,1761578045.292 [DAT](INFO): direction in FSK: [-0.837788,-0.371257,0.400349]
2025-10-27T15:14:05.292Z,1761578045.292 [DAT](INFO): publishing direction and range info
2025-10-27T15:14:05.302Z,1761578045.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807083,0.585180,-0.078616],[-0.572908,0.808352,0.135436],[0.142804,-0.064269,0.987662]]
2025-10-27T15:14:05.304Z,1761578045.304 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.995579
2025-10-27T15:14:05.532Z,1761578045.532 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.223598
2025-10-27T15:14:05.693Z,1761578045.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798131,0.597954,-0.073751],[-0.584703,0.798270,0.144525],[0.145292,-0.072228,0.986749]]
2025-10-27T15:14:05.785Z,1761578045.785 [DAT](INFO): DAT read: Rx Time:15:14:04.4537 

2025-10-27T15:14:05.785Z,1761578045.785 [DAT](INFO): Rx dataTimestamp_ set to:1761578045.785033
2025-10-27T15:14:05.787Z,1761578045.787 [DAT](INFO): DAT read: Bearing 269.5, -31.1 (Local)

2025-10-27T15:14:05.787Z,1761578045.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.5, -31.1 (Local)

2025-10-27T15:14:05.789Z,1761578045.789 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:14:05.800Z,1761578045.800 [DAT](INFO): DAT read: 15:14:04.4537 LVL= 20464, 32097, 16466, 32755, AGC= 36, IDX= 507, 0.03,-2.406,-0.578,-1.598,-1.055, PHS=-1.249, 0.521,-0.588, RAW= 308.3,  16.7, CAL= 306.9,  22.2, ROT= 203.1, -22.2

2025-10-27T15:14:05.801Z,1761578045.801 [DAT](INFO): got valid direction response:
 15:14:04.4537 LVL= 20464, 32097, 16466, 32755, AGC= 36, IDX= 507, 0.03,-2.406,-0.578,-1.598,-1.055, PHS=-1.249, 0.521,-0.588, RAW= 308.3,  16.7, CAL= 306.9,  22.2, ROT= 203.1, -22.2

2025-10-27T15:14:05.802Z,1761578045.802 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-27T15:14:05.803Z,1761578045.803 [DAT](INFO): direction in FSK: [-0.851636,-0.363253,0.377841]
2025-10-27T15:14:05.803Z,1761578045.803 [DAT](INFO): publishing direction and range info
2025-10-27T15:14:05.841Z,1761578045.841 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.533043
2025-10-27T15:14:06.038Z,1761578046.038 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.729370
2025-10-27T15:14:06.134Z,1761578046.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786116,0.613949,-0.071325],[-0.600875,0.786167,0.144534],[0.144810,-0.070763,0.986926]]
2025-10-27T15:14:06.289Z,1761578046.289 [DAT](INFO): DAT read: Rx Time:15:14:04.9538 

2025-10-27T15:14:06.290Z,1761578046.290 [DAT](INFO): Rx dataTimestamp_ set to:1761578046.289566
2025-10-27T15:14:06.292Z,1761578046.292 [DAT](INFO): DAT read: Bearing 269.2, -35.7 (Local)

2025-10-27T15:14:06.292Z,1761578046.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.2, -35.7 (Local)

2025-10-27T15:14:06.295Z,1761578046.295 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:06.302Z,1761578046.302 [DAT](INFO): DAT read: 15:14:04.9538 LVL= 20960, 31441, 14930, 32755, AGC= 35, IDX= 508, 0.15,-0.934, 0.950, 0.000, 0.425, PHS=-1.257, 0.570,-0.469, RAW= 304.5,  14.4, CAL= 302.3,  20.5, ROT= 207.7, -20.5

2025-10-27T15:14:06.303Z,1761578046.303 [DAT](INFO): got valid direction response:
 15:14:04.9538 LVL= 20960, 31441, 14930, 32755, AGC= 35, IDX= 508, 0.15,-0.934, 0.950, 0.000, 0.425, PHS=-1.257, 0.570,-0.469, RAW= 304.5,  14.4, CAL= 302.3,  20.5, ROT= 207.7, -20.5

2025-10-27T15:14:06.303Z,1761578046.303 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-27T15:14:06.304Z,1761578046.304 [DAT](INFO): direction in FSK: [-0.829324,-0.435405,0.350207]
2025-10-27T15:14:06.305Z,1761578046.305 [DAT](INFO): publishing direction and range info
2025-10-27T15:14:06.308Z,1761578046.308 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.999996
2025-10-27T15:14:06.540Z,1761578046.540 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.231346
2025-10-27T15:14:06.793Z,1761578046.793 [DAT](INFO): DAT read: Rx Time:15:14:05.4537 

2025-10-27T15:14:06.793Z,1761578046.793 [DAT](INFO): Rx dataTimestamp_ set to:1761578046.792749
2025-10-27T15:14:06.794Z,1761578046.794 [DAT](INFO): DAT read: Bearing 271.5, -43.8 (Local)

2025-10-27T15:14:06.795Z,1761578046.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.5, -43.8 (Local)

2025-10-27T15:14:06.797Z,1761578046.797 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:14:06.801Z,1761578046.801 [DAT](INFO): DAT read: 15:14:05.4537 LVL= 20976, 32049, 16146, 32051, AGC= 36, IDX= 507, 0.33,-2.589,-0.724,-1.452,-1.259, PHS=-1.228, 0.580,-0.237, RAW= 296.8,  11.3, CAL= 294.2,  15.6, ROT= 215.8, -15.6

2025-10-27T15:14:06.802Z,1761578046.802 [DAT](INFO): got valid direction response:
 15:14:05.4537 LVL= 20976, 32049, 16146, 32051, AGC= 36, IDX= 507, 0.33,-2.589,-0.724,-1.452,-1.259, PHS=-1.228, 0.580,-0.237, RAW= 296.8,  11.3, CAL= 294.2,  15.6, ROT= 215.8, -15.6

2025-10-27T15:14:06.803Z,1761578046.803 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-27T15:14:06.804Z,1761578046.804 [DAT](INFO): direction in FSK: [-0.781186,-0.563409,0.268920]
2025-10-27T15:14:06.804Z,1761578046.804 [DAT](INFO): publishing direction and range info
2025-10-27T15:14:06.808Z,1761578046.808 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.499485
2025-10-27T15:14:06.922Z,1761578046.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751724,0.656688,-0.060595],[-0.645650,0.751565,0.135225],[0.134342,-0.062528,0.988960]]
2025-10-27T15:14:07.047Z,1761578047.047 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.737793
2025-10-27T15:14:07.297Z,1761578047.297 [DAT](INFO): DAT read: Rx Time:15:14:05.9538 

2025-10-27T15:14:07.297Z,1761578047.297 [DAT](INFO): Rx dataTimestamp_ set to:1761578047.296704
2025-10-27T15:14:07.298Z,1761578047.298 [DAT](INFO): DAT read: Bearing 266.9, -41.5 (Local)

2025-10-27T15:14:07.299Z,1761578047.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.9, -41.5 (Local)

2025-10-27T15:14:07.301Z,1761578047.301 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:07.305Z,1761578047.305 [DAT](INFO): DAT read: 15:14:05.9538 LVL= 19664, 32497, 15554, 28867, AGC= 34, IDX= 509,-0.40, 2.837,-1.595,-2.361,-2.116, PHS=-1.228, 0.565,-0.290, RAW= 298.5,  12.2, CAL= 295.8,  17.5, ROT= 214.2, -17.5

2025-10-27T15:14:07.306Z,1761578047.306 [DAT](INFO): got valid direction response:
 15:14:05.9538 LVL= 19664, 32497, 15554, 28867, AGC= 34, IDX= 509,-0.40, 2.837,-1.595,-2.361,-2.116, PHS=-1.228, 0.565,-0.290, RAW= 298.5,  12.2, CAL= 295.8,  17.5, ROT= 214.2, -17.5

2025-10-27T15:14:07.307Z,1761578047.307 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-27T15:14:07.308Z,1761578047.308 [DAT](INFO): direction in FSK: [-0.788801,-0.536068,0.300706]
2025-10-27T15:14:07.308Z,1761578047.308 [DAT](INFO): publishing direction and range info
2025-10-27T15:14:07.341Z,1761578047.341 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.032345
2025-10-27T15:14:07.360Z,1761578047.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728373,0.683622,-0.046197],[-0.673495,0.726720,0.135211],[0.126005,-0.067371,0.989739]]
2025-10-27T15:14:07.548Z,1761578047.548 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.239677
2025-10-27T15:14:07.735Z,1761578047.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701118,0.712588,-0.025540],[-0.703578,0.697182,0.137532],[0.115809,-0.078457,0.990168]]
2025-10-27T15:14:07.801Z,1761578047.801 [DAT](INFO): DAT read: Rx Time:15:14:06.4538 

2025-10-27T15:14:07.802Z,1761578047.802 [DAT](INFO): Rx dataTimestamp_ set to:1761578047.801718
2025-10-27T15:14:07.804Z,1761578047.804 [DAT](INFO): DAT read: Bearing 261.6, -34.3 (Local)

2025-10-27T15:14:07.804Z,1761578047.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.6, -34.3 (Local)

2025-10-27T15:14:07.809Z,1761578047.809 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:07.817Z,1761578047.817 [DAT](INFO): DAT read: 15:14:06.4538 LVL= 19696, 32753, 14802, 27235, AGC= 35, IDX= 508,-0.30, 1.576,-2.838, 2.500, 2.938, PHS=-1.260, 0.552,-0.482, RAW= 304.7,  15.0, CAL= 302.6,  21.0, ROT= 207.4, -21.0

2025-10-27T15:14:07.829Z,1761578047.829 [DAT](INFO): got valid direction response:
 15:14:06.4538 LVL= 19696, 32753, 14802, 27235, AGC= 35, IDX= 508,-0.30, 1.576,-2.838, 2.500, 2.938, PHS=-1.260, 0.552,-0.482, RAW= 304.7,  15.0, CAL= 302.6,  21.0, ROT= 207.4, -21.0

2025-10-27T15:14:07.830Z,1761578047.830 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-27T15:14:07.831Z,1761578047.831 [DAT](INFO): direction in FSK: [-0.828847,-0.429633,0.358368]
2025-10-27T15:14:07.831Z,1761578047.831 [DAT](INFO): publishing direction and range info
2025-10-27T15:14:07.835Z,1761578047.835 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.526154
2025-10-27T15:14:08.055Z,1761578048.055 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.745747
2025-10-27T15:14:08.169Z,1761578048.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670328,0.742063,-0.001579],[-0.734758,0.664024,0.138573],[0.103878,-0.091729,0.990351]]
2025-10-27T15:14:08.305Z,1761578048.305 [DAT](INFO): DAT read: Rx Time:15:14:06.9539 

2025-10-27T15:14:08.306Z,1761578048.306 [DAT](INFO): Rx dataTimestamp_ set to:1761578048.305615
2025-10-27T15:14:08.308Z,1761578048.308 [DAT](INFO): DAT read: Bearing 260.9, -20.4 (Local)

2025-10-27T15:14:08.308Z,1761578048.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.9, -20.4 (Local)

2025-10-27T15:14:08.310Z,1761578048.310 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:14:08.315Z,1761578048.315 [DAT](INFO): DAT read: 15:14:06.9539 LVL= 21488, 32753, 12066, 26787, AGC= 35, IDX= 509,-0.30,-2.282,-0.234,-1.700,-0.899, PHS=-1.281, 0.710,-0.845, RAW= 318.0,  15.4, CAL= 317.0,  20.2, ROT= 193.0, -20.2

2025-10-27T15:14:08.316Z,1761578048.316 [DAT](INFO): got valid direction response:
 15:14:06.9539 LVL= 21488, 32753, 12066, 26787, AGC= 35, IDX= 509,-0.30,-2.282,-0.234,-1.700,-0.899, PHS=-1.281, 0.710,-0.845, RAW= 318.0,  15.4, CAL= 317.0,  20.2, ROT= 193.0, -20.2

2025-10-27T15:14:08.317Z,1761578048.317 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-27T15:14:08.318Z,1761578048.318 [DAT](INFO): direction in FSK: [-0.914440,-0.211115,0.345298]
2025-10-27T15:14:08.318Z,1761578048.318 [DAT](INFO): publishing direction and range info
2025-10-27T15:14:08.327Z,1761578048.327 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.018177
2025-10-27T15:14:08.539Z,1761578048.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637247,0.770375,0.020923],[-0.765362,0.629456,0.134188],[0.090205,-0.101525,0.990735]]
2025-10-27T15:14:08.556Z,1761578048.556 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.247578
2025-10-27T15:14:08.808Z,1761578048.808 [DAT](INFO): DAT read: Rx Time:15:14:07.4538 

2025-10-27T15:14:08.809Z,1761578048.809 [DAT](INFO): Rx dataTimestamp_ set to:1761578048.808291
2025-10-27T15:14:08.810Z,1761578048.810 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:08.810Z,1761578048.810 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-10-27T15:14:08.811Z,1761578048.811 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.502956
2025-10-27T15:14:08.942Z,1761578048.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602532,0.797204,0.037699],[-0.794542,0.594727,0.122489],[0.075228,-0.103757,0.991754]]
2025-10-27T15:14:09.063Z,1761578049.063 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.753994
2025-10-27T15:14:09.312Z,1761578049.312 [DAT](INFO): DAT read: Rx Time:15:14:07.9538 

2025-10-27T15:14:09.313Z,1761578049.313 [DAT](INFO): Rx dataTimestamp_ set to:1761578049.312246
2025-10-27T15:14:09.314Z,1761578049.314 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:09.314Z,1761578049.314 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-10-27T15:14:09.315Z,1761578049.315 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.006973
2025-10-27T15:14:09.362Z,1761578049.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568259,0.821622,0.044928],[-0.820680,0.561953,0.103412],[0.059718,-0.095636,0.993623]]
2025-10-27T15:14:09.564Z,1761578049.564 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.255486
2025-10-27T15:14:09.756Z,1761578049.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535090,0.843785,0.041296],[-0.843605,0.531103,0.079128],[0.044835,-0.077178,0.996009]]
2025-10-27T15:14:09.816Z,1761578049.816 [DAT](INFO): DAT read: Rx Time:15:14:08.4537 

2025-10-27T15:14:09.817Z,1761578049.817 [DAT](INFO): Rx dataTimestamp_ set to:1761578049.816528
2025-10-27T15:14:09.818Z,1761578049.818 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:14:09.819Z,1761578049.819 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-10-27T15:14:09.820Z,1761578049.820 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.511192
2025-10-27T15:14:10.071Z,1761578050.071 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.761868
2025-10-27T15:14:10.153Z,1761578050.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504019,0.863216,0.028679],[-0.863121,0.502199,0.053093],[0.031428,-0.051514,0.998178]]
2025-10-27T15:14:10.320Z,1761578050.320 [DAT](INFO): DAT read: Rx Time:15:14:08.9538 

2025-10-27T15:14:10.321Z,1761578050.321 [DAT](INFO): Rx dataTimestamp_ set to:1761578050.320539
2025-10-27T15:14:10.322Z,1761578050.322 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:10.323Z,1761578050.323 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-10-27T15:14:10.324Z,1761578050.324 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.015766
2025-10-27T15:14:10.553Z,1761578050.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475515,0.879565,0.015851],[-0.879479,0.474904,0.031339],[0.020037,-0.028843,0.999383]]
2025-10-27T15:14:10.572Z,1761578050.572 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.263641
2025-10-27T15:14:10.828Z,1761578050.828 [DAT](INFO): DAT read: Rx Time:15:14:09.4538 

2025-10-27T15:14:10.829Z,1761578050.829 [DAT](INFO): Rx dataTimestamp_ set to:1761578050.828529
2025-10-27T15:14:10.830Z,1761578050.830 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:10.831Z,1761578050.831 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-10-27T15:14:10.832Z,1761578050.832 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.523193
2025-10-27T15:14:10.965Z,1761578050.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449253,0.893253,0.016435],[-0.893346,0.448937,0.019706],[0.010224,-0.023535,0.999671]]
2025-10-27T15:14:11.079Z,1761578051.079 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.769901
2025-10-27T15:14:11.328Z,1761578051.328 [DAT](INFO): DAT read: Rx Time:15:14:09.9539 

2025-10-27T15:14:11.329Z,1761578051.329 [DAT](INFO): Rx dataTimestamp_ set to:1761578051.328285
2025-10-27T15:14:11.330Z,1761578051.330 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:14:11.330Z,1761578051.330 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-10-27T15:14:11.331Z,1761578051.331 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=58.022968
2025-10-27T15:14:11.387Z,1761578051.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425161,0.904908,0.019488],[-0.905115,0.425001,0.011915],[0.002499,-0.022704,0.999739]]
2025-10-27T15:14:11.580Z,1761578051.580 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=58.271503
2025-10-27T15:14:11.769Z,1761578051.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403163,0.915127,-0.001374],[-0.915127,0.403161,-0.001746],[-0.001044,0.001961,0.999998]]
2025-10-27T15:14:11.833Z,1761578051.833 [DAT](INFO): DAT read: Rx Time:15:14:10.4538 

2025-10-27T15:14:11.833Z,1761578051.833 [DAT](INFO): Rx dataTimestamp_ set to:1761578051.832864
2025-10-27T15:14:11.835Z,1761578051.835 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:11.836Z,1761578051.836 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-10-27T15:14:11.837Z,1761578051.837 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.528957
2025-10-27T15:14:12.086Z,1761578052.086 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.777859
2025-10-27T15:14:12.179Z,1761578052.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384029,0.922820,-0.030420],[-0.923321,0.383818,-0.012753],[-0.000093,0.032984,0.999456]]
2025-10-27T15:14:12.336Z,1761578052.336 [DAT](INFO): DAT read: Rx Time:15:14:10.9537 

2025-10-27T15:14:12.336Z,1761578052.336 [DAT](INFO): Rx dataTimestamp_ set to:1761578052.336198
2025-10-27T15:14:12.338Z,1761578052.338 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T15:14:12.338Z,1761578052.338 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-10-27T15:14:12.339Z,1761578052.339 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=59.030853
2025-10-27T15:14:12.574Z,1761578052.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367042,0.929236,-0.042433],[-0.930187,0.366934,-0.010597],[0.005723,0.043360,0.999043]]
2025-10-27T15:14:12.588Z,1761578052.588 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=59.279644
2025-10-27T15:14:12.840Z,1761578052.840 [DAT](INFO): DAT read: Rx Time:15:14:11.4536 

2025-10-27T15:14:12.841Z,1761578052.841 [DAT](INFO): Rx dataTimestamp_ set to:1761578052.840427
2025-10-27T15:14:12.842Z,1761578052.842 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T15:14:12.842Z,1761578052.842 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-10-27T15:14:12.843Z,1761578052.843 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.535069
2025-10-27T15:14:12.986Z,1761578052.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351111,0.935705,-0.034327],[-0.936201,0.351443,0.003988],[0.015795,0.030737,0.999403]]
2025-10-27T15:14:13.092Z,1761578053.092 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.784058
2025-10-27T15:14:13.344Z,1761578053.344 [DAT](INFO): DAT read: Rx Time:15:14:11.9539 

2025-10-27T15:14:13.345Z,1761578053.345 [DAT](INFO): Rx dataTimestamp_ set to:1761578053.344255
2025-10-27T15:14:13.346Z,1761578053.346 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:14:13.346Z,1761578053.346 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-10-27T15:14:13.347Z,1761578053.347 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.038906
2025-10-27T15:14:13.392Z,1761578053.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335593,0.941896,-0.014478],[-0.941582,0.335863,0.024878],[0.028295,0.005283,0.999586]]
2025-10-27T15:14:13.596Z,1761578053.596 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.287586
2025-10-27T15:14:13.786Z,1761578053.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319807,0.947459,0.006665],[-0.946574,0.319184,0.046027],[0.041481,-0.021029,0.998918]]
2025-10-27T15:14:13.857Z,1761578053.857 [DAT](INFO): DAT read: Rx Time:15:14:12.4538 

2025-10-27T15:14:13.858Z,1761578053.858 [DAT](INFO): Rx dataTimestamp_ set to:1761578053.857289
2025-10-27T15:14:13.859Z,1761578053.859 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:13.860Z,1761578053.860 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-10-27T15:14:13.861Z,1761578053.861 [DAT](INFO): ****** received valid address query ******
2025-10-27T15:14:13.861Z,1761578053.861 [DAT](INFO): ****** received valid ping request ******
2025-10-27T15:14:13.862Z,1761578053.862 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:14:14.108Z,1761578054.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:14:14.202Z,1761578054.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303754,0.952530,0.020499],[-0.951276,0.302017,0.062134],[0.052993,-0.038374,0.997857]]
2025-10-27T15:14:14.360Z,1761578054.360 [DAT](INFO): DAT read: Rx Time:15:14:12.9539 

2025-10-27T15:14:14.361Z,1761578054.361 [DAT](INFO): Rx dataTimestamp_ set to:1761578054.360297
2025-10-27T15:14:14.362Z,1761578054.362 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:14:14.362Z,1761578054.362 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:14:14.363Z,1761578054.363 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:14:14.363Z,1761578054.363 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:14:14.595Z,1761578054.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287150,0.957621,0.022499],[-0.955870,0.284944,0.071548],[0.062105,-0.042051,0.997183]]
2025-10-27T15:14:14.612Z,1761578054.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:14:14.864Z,1761578054.864 [DAT](INFO): DAT read: Rx Time:15:14:13.4538 

2025-10-27T15:14:14.865Z,1761578054.865 [DAT](INFO): Rx dataTimestamp_ set to:1761578054.864363
2025-10-27T15:14:14.866Z,1761578054.866 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-10-27T15:14:14.866Z,1761578054.866 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:14:14.868Z,1761578054.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:14:14.868Z,1761578054.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:14:14.998Z,1761578054.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270511,0.962595,0.015297],[-0.960240,0.268642,0.075965],[0.069014,-0.035238,0.996993]]
2025-10-27T15:14:15.119Z,1761578055.119 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:14:15.368Z,1761578055.368 [DAT](INFO): DAT read: Rx Time:15:14:13.9539 

2025-10-27T15:14:15.368Z,1761578055.368 [DAT](INFO): Rx dataTimestamp_ set to:1761578055.368182
2025-10-27T15:14:15.370Z,1761578055.370 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-27T15:14:15.370Z,1761578055.370 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:14:15.371Z,1761578055.371 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:14:15.371Z,1761578055.371 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:14:15.433Z,1761578055.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234750,0.972056,0.000406],[-0.968900,0.233954,0.080608],[0.078260,-0.019316,0.996746]]
2025-10-27T15:14:15.620Z,1761578055.620 [DAT](INFO): DAT read: user:1017>

2025-10-27T15:14:15.621Z,1761578055.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:14:15.872Z,1761578055.872 [DAT](INFO): DAT read: user:1017>

2025-10-27T15:14:15.873Z,1761578055.873 [DAT](INFO): DAT read: Tx time:15:14:14.8715

2025-10-27T15:14:15.873Z,1761578055.873 [DAT](INFO): Ping request sent.
2025-10-27T15:14:15.873Z,1761578055.873 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:14:15.873Z,1761578055.873 [DAT](INFO): publishing transmit ping time
2025-10-27T15:14:15.874Z,1761578055.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-27T15:14:16.124Z,1761578056.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250720
2025-10-27T15:14:16.233Z,1761578056.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194284,0.980934,0.004613],[-0.977310,0.193158,0.086925],[0.084376,-0.021396,0.996204]]
2025-10-27T15:14:16.377Z,1761578056.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503474
2025-10-27T15:14:16.628Z,1761578056.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754684
2025-10-27T15:14:16.880Z,1761578056.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006720
2025-10-27T15:14:17.023Z,1761578057.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172743,0.984856,0.014773],[-0.981199,0.170752,0.089957],[0.086072,-0.030034,0.995836]]
2025-10-27T15:14:17.132Z,1761578057.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258883
2025-10-27T15:14:17.384Z,1761578057.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510721
2025-10-27T15:14:17.636Z,1761578057.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762718
2025-10-27T15:14:17.830Z,1761578057.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105006,0.991909,0.071350],[-0.990908,0.098292,0.091867],[0.084110,-0.080348,0.993212]]
2025-10-27T15:14:17.889Z,1761578057.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015721
2025-10-27T15:14:18.140Z,1761578058.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266783
2025-10-27T15:14:18.263Z,1761578058.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080571,0.992659,0.090204],[-0.993511,0.072691,0.087473],[0.080274,-0.096667,0.992074]]
2025-10-27T15:14:18.392Z,1761578058.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519218
2025-10-27T15:14:18.638Z,1761578058.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055515,0.993111,0.103194],[-0.995696,0.047383,0.079649],[0.074211,-0.107171,0.991467]]
2025-10-27T15:14:18.644Z,1761578058.644 [DAT](INFO): DAT read: Rx Time:15:14:17.2787

2025-10-27T15:14:18.645Z,1761578058.645 [DAT](INFO): Rx dataTimestamp_ set to:1761578058.644241
2025-10-27T15:14:18.645Z,1761578058.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771930
2025-10-27T15:14:18.896Z,1761578058.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022783
2025-10-27T15:14:19.044Z,1761578059.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030980,0.993631,0.108339],[-0.997347,0.023586,0.068870],[0.065876,-0.110185,0.991726]]
2025-10-27T15:14:19.149Z,1761578059.149 [DAT](INFO): DAT read: Range 11 to 50 : 2.2 m  (Round-trip  3.0 ms) speed  0.0 m/s

2025-10-27T15:14:19.149Z,1761578059.149 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:14:19.446Z,1761578059.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007590,0.994543,0.104047],[-0.998429,0.001761,0.056005],[0.055516,-0.104309,0.992994]]
2025-10-27T15:14:19.846Z,1761578059.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014024,0.995654,0.092067],[-0.998931,-0.018008,0.042587],[0.044060,-0.091371,0.994842]]
2025-10-27T15:14:20.292Z,1761578060.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033219,0.996600,0.075397],[-0.998931,-0.035534,0.029564],[0.032143,-0.074335,0.996715]]
2025-10-27T15:14:20.655Z,1761578060.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049710,0.997194,0.055982],[-0.998545,-0.050793,0.018091],[0.020884,-0.055001,0.998268]]
2025-10-27T15:14:21.058Z,1761578061.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063762,0.997345,0.035176],[-0.997902,-0.064113,0.008958],[0.011190,-0.034531,0.999341]]
2025-10-27T15:14:21.469Z,1761578061.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075298,0.997027,0.016373],[-0.997153,-0.075352,0.002731],[0.003956,-0.016120,0.999862]]
2025-10-27T15:14:21.866Z,1761578061.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084752,0.996398,0.002857],[-0.996402,-0.084751,-0.000458],[-0.000214,-0.002885,0.999996]]
2025-10-27T15:14:22.321Z,1761578062.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091994,0.995757,-0.002121],[-0.995758,-0.091997,-0.001262],[-0.001452,0.001995,0.999997]]
2025-10-27T15:14:22.673Z,1761578062.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097672,0.995125,0.013684],[-0.995218,-0.097653,-0.002014],[-0.000668,-0.013815,0.999904]]
2025-10-27T15:14:23.078Z,1761578063.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100985,0.994180,0.037538],[-0.994886,-0.100984,-0.001943],[0.001859,-0.037542,0.999293]]
2025-10-27T15:14:23.482Z,1761578063.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104046,0.993866,0.037487],[-0.994546,-0.104243,0.003329],[0.007216,-0.036937,0.999292]]
2025-10-27T15:14:23.887Z,1761578063.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108027,0.993743,0.028381],[-0.994044,-0.108384,0.011351],[0.014356,-0.026986,0.999533]]
2025-10-27T15:14:24.345Z,1761578064.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112131,0.993462,0.021428],[-0.993432,-0.112570,0.020502],[0.022780,-0.018989,0.999560]]
2025-10-27T15:14:24.761Z,1761578064.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116558,0.992986,0.019839],[-0.992663,-0.117121,0.030055],[0.032168,-0.016190,0.999351]]
2025-10-27T15:14:25.158Z,1761578065.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121270,0.992322,0.024283],[-0.991735,-0.122159,0.039238],[0.041903,-0.019324,0.998935]]
2025-10-27T15:14:25.570Z,1761578065.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126795,0.991365,0.033459],[-0.990573,-0.128313,0.047974],[0.051853,-0.027061,0.998288]]
2025-10-27T15:14:26.381Z,1761578066.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141452,0.988071,0.060880],[-0.987409,-0.145221,0.062721],[0.070814,-0.051242,0.996172]]
2025-10-27T15:14:26.774Z,1761578066.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151231,0.985736,0.073850],[-0.985316,-0.156313,0.068696],[0.079259,-0.062376,0.994901]]
2025-10-27T15:14:27.179Z,1761578067.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162115,0.983205,0.083820],[-0.982978,-0.168350,0.073568],[0.086444,-0.070466,0.993762]]
2025-10-27T15:14:27.581Z,1761578067.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174337,0.980613,0.089470],[-0.980339,-0.181378,0.077700],[0.092421,-0.074165,0.992954]]
2025-10-27T15:14:27.986Z,1761578067.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187962,0.977978,0.090720],[-0.977357,-0.195379,0.081242],[0.097178,-0.073396,0.992557]]
2025-10-27T15:14:28.409Z,1761578068.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202289,0.975172,0.090104],[-0.974163,-0.209804,0.083597],[0.100426,-0.070866,0.992418]]
2025-10-27T15:14:28.795Z,1761578068.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216964,0.972203,0.088024],[-0.970792,-0.224348,0.085034],[0.102418,-0.067003,0.992482]]
2025-10-27T15:14:29.199Z,1761578069.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231705,0.969040,0.085289],[-0.967286,-0.238818,0.085575],[0.103294,-0.062670,0.992675]]
2025-10-27T15:14:30.007Z,1761578070.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258151,0.962313,0.085505],[-0.960695,-0.265051,0.082546],[0.102098,-0.060835,0.992912]]
2025-10-27T15:14:30.441Z,1761578070.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269255,0.958878,0.089750],[-0.957841,-0.276325,0.078645],[0.100211,-0.064791,0.992854]]
2025-10-27T15:14:30.815Z,1761578070.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278525,0.955612,0.096070],[-0.955457,-0.285858,0.073394],[0.097598,-0.071349,0.992665]]
2025-10-27T15:14:31.217Z,1761578071.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284916,0.952989,0.103129],[-0.953957,-0.292427,0.066727],[0.093747,-0.079369,0.992427]]
2025-10-27T15:14:31.622Z,1761578071.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288954,0.951163,0.108601],[-0.953196,-0.296393,0.059744],[0.089015,-0.086254,0.992289]]
2025-10-27T15:14:32.027Z,1761578072.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290098,0.950574,0.110685],[-0.953385,-0.297103,0.052795],[0.083071,-0.090210,0.992452]]
2025-10-27T15:14:32.466Z,1761578072.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289389,0.951019,0.108704],[-0.954124,-0.295703,0.046973],[0.076816,-0.090123,0.992964]]
2025-10-27T15:14:32.834Z,1761578072.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286214,0.952641,0.102751],[-0.955607,-0.291635,0.042004],[0.069981,-0.086168,0.993820]]
2025-10-27T15:14:33.238Z,1761578073.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280487,0.955217,0.094267],[-0.957774,-0.284993,0.038045],[0.063207,-0.079616,0.994820]]
2025-10-27T15:14:33.646Z,1761578073.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273293,0.958238,0.084206],[-0.960234,-0.276961,0.035267],[0.057116,-0.071219,0.995824]]
2025-10-27T15:14:34.047Z,1761578074.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264720,0.961575,0.072782],[-0.962926,-0.267646,0.033751],[0.051934,-0.061149,0.996777]]
2025-10-27T15:14:34.488Z,1761578074.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255181,0.964970,0.060955],[-0.965725,-0.257463,0.032971],[0.047510,-0.050453,0.997596]]
2025-10-27T15:14:34.854Z,1761578074.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244979,0.968205,0.050637],[-0.968531,-0.246761,0.032506],[0.043968,-0.041081,0.998188]]
2025-10-27T15:14:35.258Z,1761578075.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234880,0.971209,0.039803],[-0.971121,-0.236230,0.033446],[0.041886,-0.030798,0.998648]]
2025-10-27T15:14:35.663Z,1761578075.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225005,0.973864,0.031009],[-0.973490,-0.226034,0.035017],[0.041111,-0.022308,0.998906]]
2025-10-27T15:14:36.065Z,1761578076.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215493,0.976216,0.023784],[-0.975625,-0.216269,0.037204],[0.041463,-0.015187,0.999025]]
2025-10-27T15:14:36.506Z,1761578076.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207567,0.978015,0.020073],[-0.977267,-0.208227,0.039886],[0.043189,-0.011337,0.999003]]
2025-10-27T15:14:36.874Z,1761578076.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201278,0.979314,0.020782],[-0.978459,-0.202005,0.042555],[0.045873,-0.011769,0.998878]]
2025-10-27T15:14:37.279Z,1761578077.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196743,0.980097,0.026503],[-0.979210,-0.197783,0.045044],[0.049389,-0.017090,0.998633]]
2025-10-27T15:14:37.682Z,1761578077.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195105,0.980124,0.035928],[-0.979311,-0.196688,0.047578],[0.053699,-0.025902,0.998221]]
2025-10-27T15:14:38.086Z,1761578078.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196058,0.979473,0.046848],[-0.978873,-0.198319,0.049764],[0.058033,-0.036101,0.997662]]
2025-10-27T15:14:38.504Z,1761578078.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199959,0.978137,0.057133],[-0.977829,-0.202917,0.051717],[0.062180,-0.045525,0.997026]]
2025-10-27T15:14:38.897Z,1761578078.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206967,0.976162,0.065361],[-0.976124,-0.210537,0.053445],[0.065932,-0.052739,0.996429]]
2025-10-27T15:14:39.701Z,1761578079.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231177,0.970160,0.073122],[-0.970240,-0.235456,0.056526],[0.072056,-0.057878,0.995720]]
2025-10-27T15:14:40.106Z,1761578080.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248153,0.966016,0.072340],[-0.965862,-0.252462,0.058076],[0.074366,-0.055459,0.995688]]
2025-10-27T15:14:40.514Z,1761578080.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268193,0.960891,0.069000],[-0.960323,-0.272346,0.060054],[0.076497,-0.050157,0.995807]]
2025-10-27T15:14:40.928Z,1761578080.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291199,0.954542,0.063662],[-0.953450,-0.295027,0.062383],[0.078330,-0.042533,0.996020]]
2025-10-27T15:14:41.724Z,1761578081.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341535,0.938399,0.052552],[-0.936300,-0.344574,0.067905],[0.081830,-0.026013,0.996307]]
2025-10-27T15:14:42.126Z,1761578082.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367884,0.928657,0.047515],[-0.926092,-0.370513,0.071232],[0.083755,-0.017798,0.996327]]
2025-10-27T15:14:42.533Z,1761578082.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392815,0.918422,0.046877],[-0.915596,-0.395351,0.073360],[0.085908,-0.014104,0.996203]]
2025-10-27T15:14:43.337Z,1761578083.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439697,0.895905,0.063410],[-0.893453,-0.443515,0.070958],[0.091695,-0.025454,0.995462]]
2025-10-27T15:14:43.749Z,1761578083.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459755,0.884555,0.078659],[-0.883013,-0.464770,0.065403],[0.094411,-0.039387,0.994754]]
2025-10-27T15:14:44.149Z,1761578084.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476415,0.873989,0.095767],[-0.873927,-0.482664,0.057338],[0.096335,-0.056377,0.993751]]
2025-10-27T15:14:44.549Z,1761578084.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489102,0.865003,0.112025],[-0.866834,-0.496312,0.047675],[0.096838,-0.073789,0.992561]]
2025-10-27T15:14:44.954Z,1761578084.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497572,0.858570,0.123612],[-0.862211,-0.505133,0.037859],[0.094945,-0.087742,0.991608]]
2025-10-27T15:14:45.358Z,1761578085.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502054,0.855530,0.126529],[-0.860113,-0.509209,0.030195],[0.090262,-0.093670,0.991503]]
2025-10-27T15:14:45.767Z,1761578085.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502856,0.855782,0.121540],[-0.860393,-0.509043,0.024486],[0.082824,-0.092259,0.992284]]
2025-10-27T15:14:46.569Z,1761578086.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493723,0.863548,0.102578],[-0.867332,-0.497536,0.013893],[0.063034,-0.082110,0.994628]]
2025-10-27T15:14:46.976Z,1761578086.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484721,0.869824,0.091937],[-0.873118,-0.487437,0.008332],[0.052061,-0.076233,0.995730]]
2025-10-27T15:14:47.382Z,1761578087.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472718,0.877480,0.081031],[-0.880260,-0.474484,0.002901],[0.040993,-0.069957,0.996707]]
2025-10-27T15:14:47.782Z,1761578087.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458350,0.886042,0.069597],[-0.888253,-0.459350,-0.001832],[0.030346,-0.062660,0.997573]]
2025-10-27T15:14:48.186Z,1761578088.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442554,0.894865,0.057985],[-0.896502,-0.443006,-0.005504],[0.020762,-0.054419,0.998302]]
2025-10-27T15:14:48.590Z,1761578088.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426035,0.903504,0.046622],[-0.904617,-0.426152,-0.007892],[0.012738,-0.045538,0.998881]]
2025-10-27T15:14:48.994Z,1761578088.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409591,0.911550,0.036220],[-0.912246,-0.409539,-0.009174],[0.006472,-0.036799,0.999302]]
2025-10-27T15:14:49.412Z,1761578089.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394798,0.918195,0.032427],[-0.918765,-0.394633,-0.011603],[0.002143,-0.034374,0.999407]]
2025-10-27T15:14:49.803Z,1761578089.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381776,0.923661,0.033127],[-0.924255,-0.381527,-0.013782],[-0.000091,-0.035879,0.999356]]
2025-10-27T15:14:50.206Z,1761578090.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372254,0.927886,0.021307],[-0.928131,-0.372165,-0.008184],[0.000336,-0.022823,0.999739]]
2025-10-27T15:14:50.610Z,1761578090.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366818,0.930256,0.008242],[-0.930289,-0.366827,-0.000496],[0.002562,-0.007850,0.999966]]
2025-10-27T15:14:51.014Z,1761578091.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365819,0.930684,-0.001746],[-0.930662,-0.365796,0.007803],[0.006623,0.004479,0.999968]]
2025-10-27T15:14:51.428Z,1761578091.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369028,0.929397,-0.006336],[-0.929337,-0.368897,0.015766],[0.012315,0.011706,0.999856]]
2025-10-27T15:14:51.822Z,1761578091.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376219,0.926521,-0.004309],[-0.926334,-0.376039,0.022358],[0.019095,0.012404,0.999741]]
2025-10-27T15:14:52.226Z,1761578092.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387584,0.921824,0.004500],[-0.921452,-0.387559,0.026911],[0.026551,0.006284,0.999628]]
2025-10-27T15:14:52.631Z,1761578092.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403309,0.914893,0.017655],[-0.914416,-0.403675,0.029843],[0.034430,-0.004108,0.999399]]
2025-10-27T15:14:53.034Z,1761578093.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423057,0.905517,0.032577],[-0.905130,-0.423996,0.031115],[0.041988,-0.016323,0.998985]]
2025-10-27T15:14:53.438Z,1761578093.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447005,0.893306,0.046818],[-0.893196,-0.448585,0.031194],[0.048867,-0.027874,0.998416]]
2025-10-27T15:14:53.843Z,1761578093.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474075,0.878581,0.057865],[-0.878791,-0.476215,0.030759],[0.054580,-0.036270,0.997850]]
2025-10-27T15:14:54.246Z,1761578094.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503716,0.861509,0.063821],[-0.861844,-0.506218,0.031128],[0.059125,-0.039323,0.997476]]
2025-10-27T15:14:54.650Z,1761578094.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534909,0.842423,0.064768],[-0.842600,-0.537541,0.032771],[0.062423,-0.037043,0.997362]]
2025-10-27T15:14:55.054Z,1761578095.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566036,0.821957,0.063163],[-0.821813,-0.568657,0.035405],[0.065020,-0.031867,0.997375]]
2025-10-27T15:14:55.469Z,1761578095.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596155,0.800495,0.061700],[-0.800052,-0.598739,0.037796],[0.067198,-0.026831,0.997379]]
2025-10-27T15:14:55.868Z,1761578095.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649903,0.757261,0.064667],[-0.756549,-0.652711,0.040032],[0.072523,-0.022907,0.997104]]
2025-10-27T15:14:56.274Z,1761578096.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672914,0.736569,0.068204],[-0.735811,-0.675974,0.040518],[0.075948,-0.022920,0.996848]]
2025-10-27T15:14:56.676Z,1761578096.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692580,0.717621,0.073166],[-0.716890,-0.696007,0.040535],[0.080013,-0.024378,0.996496]]
2025-10-27T15:14:57.077Z,1761578097.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708927,0.700644,0.080748],[-0.700230,-0.712900,0.038110],[0.084266,-0.029525,0.996006]]
2025-10-27T15:14:57.479Z,1761578097.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720949,0.687093,0.090195],[-0.687276,-0.725601,0.033979],[0.088793,-0.037492,0.995344]]
2025-10-27T15:14:57.892Z,1761578097.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729133,0.677581,0.096172],[-0.677987,-0.734314,0.033414],[0.093261,-0.040841,0.994804]]
2025-10-27T15:14:58.290Z,1761578098.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732807,0.672683,0.102430],[-0.673422,-0.738548,0.032415],[0.097455,-0.045224,0.994212]]
2025-10-27T15:14:58.690Z,1761578098.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731329,0.673112,0.109904],[-0.674491,-0.737684,0.029742],[0.101094,-0.052378,0.993497]]
2025-10-27T15:14:59.094Z,1761578099.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725232,0.678400,0.117522],[-0.680609,-0.732171,0.026425],[0.103973,-0.060822,0.992719]]
2025-10-27T15:14:59.498Z,1761578099.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715109,0.687939,0.123931],[-0.690964,-0.722504,0.023587],[0.105768,-0.068765,0.992010]]
2025-10-27T15:14:59.907Z,1761578099.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701537,0.701329,0.126429],[-0.704759,-0.709081,0.022812],[0.105647,-0.073098,0.991713]]
2025-10-27T15:15:00.309Z,1761578100.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684679,0.718026,0.125112],[-0.721466,-0.692052,0.023488],[0.103449,-0.074182,0.991865]]
2025-10-27T15:15:00.710Z,1761578100.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664375,0.737551,0.120930],[-0.740810,-0.671279,0.024195],[0.099023,-0.073511,0.992366]]
2025-10-27T15:15:01.114Z,1761578101.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640310,0.759278,0.116186],[-0.762480,-0.646589,0.023390],[0.092884,-0.073612,0.992952]]
2025-10-27T15:15:01.432Z,1761578101.432 [CTD_Seabird](ERROR): Failed to parse device response: .67
2025-10-27T15:15:01.519Z,1761578101.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612897,0.782229,0.111690],[-0.785557,-0.618446,0.020602],[0.085190,-0.075112,0.993530]]
2025-10-27T15:15:01.922Z,1761578101.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582942,0.805411,0.107199],[-0.808934,-0.587671,0.016371],[0.076183,-0.077173,0.994103]]
2025-10-27T15:15:02.329Z,1761578102.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550968,0.828149,0.102977],[-0.831933,-0.554779,0.010403],[0.065745,-0.079939,0.994629]]
2025-10-27T15:15:02.734Z,1761578102.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518351,0.849353,0.099556],[-0.853416,-0.521221,0.003326],[0.054715,-0.083239,0.995026]]
2025-10-27T15:15:03.135Z,1761578103.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486861,0.868275,0.095209],[-0.872403,-0.488773,-0.003671],[0.043348,-0.084848,0.995451]]
2025-10-27T15:15:03.538Z,1761578103.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456869,0.885071,0.088994],[-0.888954,-0.457893,-0.009743],[0.032126,-0.083563,0.995984]]
2025-10-27T15:15:03.942Z,1761578103.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429370,0.899648,0.079210],[-0.902874,-0.429679,-0.013979],[0.021459,-0.077519,0.996760]]
2025-10-27T15:15:04.349Z,1761578104.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405149,0.911929,0.065108],[-0.914170,-0.405030,-0.015609],[0.012137,-0.065844,0.997756]]
2025-10-27T15:15:04.757Z,1761578104.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384159,0.922011,0.048152],[-0.923255,-0.383897,-0.014944],[0.004707,-0.050198,0.998728]]
2025-10-27T15:15:05.153Z,1761578105.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367570,0.929652,0.025276],[-0.929996,-0.367438,-0.009880],[0.000102,-0.027138,0.999632]]
2025-10-27T15:15:05.557Z,1761578105.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355541,0.934661,0.000398],[-0.934659,-0.355540,-0.001820],[-0.001559,-0.001019,0.999998]]
2025-10-27T15:15:05.962Z,1761578105.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348734,0.936924,-0.023619],[-0.937222,-0.348618,0.008978],[0.000178,0.025267,0.999681]]
2025-10-27T15:15:06.382Z,1761578106.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347467,0.936801,-0.040884],[-0.937674,-0.346859,0.021337],[0.005808,0.045750,0.998936]]
2025-10-27T15:15:06.770Z,1761578106.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351399,0.935127,-0.045348],[-0.936096,-0.350132,0.033644],[0.015583,0.054273,0.998405]]
2025-10-27T15:15:07.174Z,1761578107.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360979,0.931943,-0.034294],[-0.932125,-0.359421,0.044265],[0.028926,0.047945,0.998431]]
2025-10-27T15:15:07.578Z,1761578107.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376219,0.926440,-0.012955],[-0.925451,-0.375069,0.053513],[0.044718,0.032122,0.998483]]
2025-10-27T15:15:07.988Z,1761578107.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396439,0.918003,0.010272],[-0.916027,-0.396280,0.062107],[0.061085,0.015212,0.998017]]
2025-10-27T15:15:08.400Z,1761578108.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421170,0.906474,0.030347],[-0.903730,-0.422255,0.070512],[0.076731,0.002272,0.997049]]
2025-10-27T15:15:08.790Z,1761578108.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450290,0.891711,0.045713],[-0.888225,-0.452576,0.078933],[0.091074,-0.005061,0.995831]]
2025-10-27T15:15:09.195Z,1761578109.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482731,0.873873,0.057588],[-0.869609,-0.486083,0.086617],[0.103684,-0.008267,0.994576]]
2025-10-27T15:15:09.598Z,1761578109.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516846,0.853538,0.065896],[-0.848416,-0.520976,0.093672],[0.114283,-0.007493,0.993420]]
2025-10-27T15:15:10.013Z,1761578110.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552022,0.830624,0.073047],[-0.824593,-0.556811,0.100037],[0.123766,-0.005011,0.992299]]
2025-10-27T15:15:10.409Z,1761578110.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586465,0.805859,0.081548],[-0.799115,-0.592094,0.104114],[0.132186,-0.004107,0.991216]]
2025-10-27T15:15:10.812Z,1761578110.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619190,0.779746,0.092733],[-0.772643,-0.626062,0.105211],[0.140094,-0.006504,0.990117]]
2025-10-27T15:15:11.213Z,1761578111.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649299,0.753055,0.106394],[-0.746089,-0.657839,0.102951],[0.147518,-0.012534,0.988980]]
2025-10-27T15:15:11.617Z,1761578111.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676014,0.726564,0.122926],[-0.720599,-0.686689,0.095898],[0.154088,-0.023752,0.987772]]
2025-10-27T15:15:12.040Z,1761578112.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699039,0.700538,0.143493],[-0.697033,-0.712336,0.081988],[0.159651,-0.042707,0.986249]]
2025-10-27T15:15:12.430Z,1761578112.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717628,0.677279,0.162184],[-0.676895,-0.733090,0.066269],[0.163778,-0.062225,0.984533]]
2025-10-27T15:15:12.829Z,1761578112.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731478,0.659216,0.174282],[-0.661631,-0.748000,0.052355],[0.164876,-0.077014,0.983303]]
2025-10-27T15:15:13.234Z,1761578113.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740186,0.648710,0.176917],[-0.652730,-0.756392,0.042601],[0.161454,-0.083947,0.983303]]
2025-10-27T15:15:13.638Z,1761578113.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742934,0.647181,0.170897],[-0.651540,-0.757711,0.037013],[0.153444,-0.083848,0.984594]]
2025-10-27T15:15:14.069Z,1761578114.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740086,0.653199,0.160013],[-0.657549,-0.752750,0.031576],[0.141075,-0.081848,0.986610]]
2025-10-27T15:15:14.449Z,1761578114.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732409,0.664581,0.148017],[-0.669288,-0.742656,0.022721],[0.125025,-0.082425,0.988724]]
2025-10-27T15:15:14.861Z,1761578114.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719485,0.680761,0.137498],[-0.686299,-0.727257,0.009500],[0.106464,-0.087529,0.990457]]
2025-10-27T15:15:15.659Z,1761578115.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680949,0.723007,0.116490],[-0.729473,-0.683694,-0.020762],[0.064632,-0.099114,0.992975]]
2025-10-27T15:15:16.094Z,1761578116.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657059,0.747240,0.099532],[-0.752639,-0.657717,-0.030705],[0.042520,-0.095087,0.994560]]
2025-10-27T15:15:16.466Z,1761578116.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631310,0.771437,0.079578],[-0.775235,-0.630570,-0.037302],[0.021404,-0.085241,0.996131]]
2025-10-27T15:15:16.874Z,1761578116.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604612,0.794443,0.057491],[-0.796517,-0.603241,-0.040756],[0.002302,-0.070434,0.997514]]
2025-10-27T15:15:17.275Z,1761578117.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578302,0.815026,0.036061],[-0.815710,-0.576919,-0.042215],[-0.013602,-0.053828,0.998458]]
2025-10-27T15:15:17.680Z,1761578117.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553494,0.832630,0.019260],[-0.832449,-0.552358,-0.043930],[-0.025939,-0.040348,0.998849]]
2025-10-27T15:15:18.485Z,1761578118.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513995,0.857720,0.011193],[-0.856872,-0.512794,-0.053027],[-0.039743,-0.036847,0.998530]]
2025-10-27T15:15:19.295Z,1761578119.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495958,0.867932,-0.026843],[-0.867577,-0.496583,-0.026763],[-0.036558,0.010015,0.999281]]
2025-10-27T15:15:19.697Z,1761578119.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495275,0.867922,-0.037599],[-0.868240,-0.495991,-0.012342],[-0.029360,0.026532,0.999217]]
2025-10-27T15:15:20.141Z,1761578120.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499141,0.865705,-0.037582],[-0.866312,-0.499503,-0.000286],[-0.019020,0.032415,0.999294]]
2025-10-27T15:15:20.506Z,1761578120.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506650,0.861720,-0.027292],[-0.862126,-0.506627,0.008271],[-0.006699,0.027719,0.999593]]
2025-10-27T15:15:20.530Z,1761578120.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:15:20.708Z,1761578120.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:15:20.708Z,1761578120.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:15:20.912Z,1761578120.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517896,0.855358,-0.012132],[-0.855418,-0.517718,0.015099],[0.006634,0.018198,0.999812]]
2025-10-27T15:15:20.961Z,1761578120.961 [DAT](INFO): DAT read: user:1018>

2025-10-27T15:15:20.962Z,1761578120.962 [DAT](INFO): DAT read: Tx time:15:15:19.9711

2025-10-27T15:15:20.962Z,1761578120.962 [DAT](INFO): Ping request sent.
2025-10-27T15:15:20.962Z,1761578120.962 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:15:20.963Z,1761578120.963 [DAT](INFO): publishing transmit ping time
2025-10-27T15:15:20.964Z,1761578120.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001468
2025-10-27T15:15:21.212Z,1761578121.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249649
2025-10-27T15:15:21.313Z,1761578121.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533085,0.846051,0.004355],[-0.845830,-0.533052,0.020678],[0.019816,0.007340,0.999777]]
2025-10-27T15:15:21.464Z,1761578121.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501722
2025-10-27T15:15:21.716Z,1761578121.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753704
2025-10-27T15:15:21.721Z,1761578121.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552368,0.833336,0.021000],[-0.832965,-0.552756,0.025101],[0.032525,-0.003627,0.999464]]
2025-10-27T15:15:21.968Z,1761578121.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005768
2025-10-27T15:15:22.138Z,1761578122.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575542,0.817042,0.034553],[-0.816584,-0.576469,0.029568],[0.044076,-0.011198,0.998965]]
2025-10-27T15:15:22.220Z,1761578122.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257764
2025-10-27T15:15:22.472Z,1761578122.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509653
2025-10-27T15:15:22.725Z,1761578122.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762038
2025-10-27T15:15:22.930Z,1761578122.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630874,0.774184,0.051356],[-0.773307,-0.632791,0.039663],[0.063204,-0.014691,0.997892]]
2025-10-27T15:15:22.978Z,1761578122.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015504
2025-10-27T15:15:23.228Z,1761578123.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265710
2025-10-27T15:15:23.344Z,1761578123.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660949,0.748409,0.055047],[-0.747062,-0.663152,0.046136],[0.071033,-0.010630,0.997417]]
2025-10-27T15:15:23.480Z,1761578123.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517984
2025-10-27T15:15:23.732Z,1761578123.732 [DAT](INFO): DAT read: Rx Time:15:15:22.3784

2025-10-27T15:15:23.733Z,1761578123.733 [DAT](INFO): Rx dataTimestamp_ set to:1761578123.732883
2025-10-27T15:15:23.734Z,1761578123.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771695
2025-10-27T15:15:23.749Z,1761578123.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691070,0.720444,0.058169],[-0.718538,-0.693492,0.052643],[0.078266,-0.005416,0.996918]]
2025-10-27T15:15:23.984Z,1761578123.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021698
2025-10-27T15:15:24.239Z,1761578124.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275892
2025-10-27T15:15:24.489Z,1761578124.489 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m  (Round-trip  3.1 ms) speed  0.0 m/s

2025-10-27T15:15:24.489Z,1761578124.489 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:15:24.545Z,1761578124.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746079,0.662118,0.070467],[-0.659385,-0.749398,0.060115],[0.092612,-0.001614,0.995701]]
2025-10-27T15:15:24.949Z,1761578124.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769823,0.632999,0.081758],[-0.630383,-0.774121,0.057912],[0.099949,-0.006957,0.994968]]
2025-10-27T15:15:25.357Z,1761578125.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790288,0.604725,0.098757],[-0.603337,-0.796113,0.046775],[0.106908,-0.022618,0.994012]]
2025-10-27T15:15:26.228Z,1761578126.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820369,0.558828,0.121265],[-0.558911,-0.828422,0.036551],[0.120884,-0.037790,0.991947]]
2025-10-27T15:15:26.569Z,1761578126.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829453,0.542803,0.131807],[-0.543993,-0.838554,0.029988],[0.126805,-0.046828,0.990822]]
2025-10-27T15:15:26.972Z,1761578126.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833983,0.533256,0.141808],[-0.535965,-0.843964,0.021598],[0.131198,-0.057992,0.989658]]
2025-10-27T15:15:27.374Z,1761578127.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833900,0.531420,0.149009],[-0.535591,-0.844362,0.013964],[0.133239,-0.068163,0.988737]]
2025-10-27T15:15:27.779Z,1761578127.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829466,0.537833,0.150740],[-0.542792,-0.839812,0.009632],[0.131774,-0.073831,0.988527]]
2025-10-27T15:15:28.182Z,1761578128.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821327,0.551284,0.146653],[-0.556201,-0.831001,0.008828],[0.126735,-0.074318,0.989149]]
2025-10-27T15:15:28.990Z,1761578128.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794447,0.593004,0.131149],[-0.597759,-0.801666,0.003837],[0.107413,-0.075347,0.991355]]
2025-10-27T15:15:29.394Z,1761578129.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775266,0.619059,0.125413],[-0.624505,-0.781002,-0.005352],[0.094635,-0.082471,0.992090]]
2025-10-27T15:15:29.799Z,1761578129.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752428,0.647624,0.120147],[-0.653745,-0.756542,-0.016157],[0.080433,-0.090703,0.992625]]
2025-10-27T15:15:30.203Z,1761578130.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726624,0.677846,0.111992],[-0.683960,-0.729102,-0.024666],[0.064934,-0.094521,0.993403]]
2025-10-27T15:15:31.010Z,1761578131.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669786,0.737775,0.084114],[-0.741861,-0.669748,-0.032864],[0.032089,-0.084413,0.995914]]
2025-10-27T15:15:31.415Z,1761578131.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641156,0.764600,0.065619],[-0.767224,-0.640536,-0.032862],[0.016905,-0.071414,0.997304]]
2025-10-27T15:15:31.833Z,1761578131.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613822,0.788026,0.047300],[-0.789436,-0.612997,-0.032026],[0.003758,-0.056999,0.998367]]
2025-10-27T15:15:32.222Z,1761578132.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589567,0.806975,0.034680],[-0.807690,-0.588636,-0.033834],[-0.006889,-0.047958,0.998826]]
2025-10-27T15:15:33.030Z,1761578133.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550553,0.834604,0.018101],[-0.834554,-0.549735,-0.036203],[-0.020264,-0.035038,0.999180]]
2025-10-27T15:15:33.841Z,1761578133.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530153,0.847424,-0.028472],[-0.847690,-0.530472,-0.004522],[-0.018936,0.021738,0.999584]]
2025-10-27T15:15:34.242Z,1761578134.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527904,0.847703,-0.052126],[-0.849216,-0.527736,0.018058],[-0.012201,0.053799,0.998477]]
2025-10-27T15:15:35.051Z,1761578135.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539190,0.841179,-0.041134],[-0.842079,-0.537706,0.042139],[0.013329,0.057359,0.998265]]
2025-10-27T15:15:35.454Z,1761578135.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552998,0.833029,-0.015975],[-0.832626,-0.551827,0.047123],[0.030439,0.039360,0.998761]]
2025-10-27T15:15:35.858Z,1761578135.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571023,0.820845,0.012110],[-0.819566,-0.570861,0.049282],[0.047366,0.018216,0.998711]]
2025-10-27T15:15:36.675Z,1761578136.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619698,0.782746,0.057298],[-0.781168,-0.622207,0.051339],[0.075836,-0.012945,0.997036]]
2025-10-27T15:15:37.473Z,1761578137.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679675,0.729075,0.080570],[-0.727368,-0.684091,0.054361],[0.094750,-0.021656,0.995266]]
2025-10-27T15:15:38.693Z,1761578138.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770728,0.629808,0.096542],[-0.627469,-0.776569,0.056770],[0.110726,-0.016823,0.993709]]
2025-10-27T15:15:39.090Z,1761578139.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796534,0.595853,0.102439],[-0.593698,-0.802892,0.053742],[0.114269,-0.018011,0.993287]]
2025-10-27T15:15:39.494Z,1761578139.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818642,0.563719,0.109757],[-0.562193,-0.825648,0.047366],[0.117322,-0.022929,0.992829]]
2025-10-27T15:15:40.711Z,1761578140.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862247,0.487093,0.138818],[-0.492772,-0.870125,-0.007630],[0.117073,-0.074984,0.990288]]
2025-10-27T15:15:41.115Z,1761578141.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861040,0.489707,0.137105],[-0.496303,-0.867991,-0.016601],[0.110877,-0.082340,0.990417]]
2025-10-27T15:15:41.520Z,1761578141.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855534,0.501045,0.130445],[-0.507618,-0.861330,-0.020840],[0.101914,-0.084046,0.991236]]
2025-10-27T15:15:41.924Z,1761578141.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846319,0.518864,0.120521],[-0.524906,-0.850851,-0.022920],[0.090653,-0.082659,0.992446]]
2025-10-27T15:15:42.327Z,1761578142.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833411,0.541702,0.109476],[-0.547089,-0.836710,-0.024693],[0.078224,-0.080472,0.993683]]
2025-10-27T15:15:43.536Z,1761578143.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771243,0.632098,0.075078],[-0.635289,-0.771747,-0.028527],[0.039910,-0.069698,0.996769]]
2025-10-27T15:15:43.938Z,1761578143.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744846,0.664235,0.063219],[-0.666613,-0.744897,-0.027477],[0.028841,-0.062609,0.997621]]
2025-10-27T15:15:44.341Z,1761578144.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717399,0.694733,0.051803],[-0.696387,-0.717221,-0.025293],[0.019583,-0.054221,0.998337]]
2025-10-27T15:15:44.756Z,1761578144.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690152,0.722413,0.042539],[-0.723552,-0.689888,-0.022957],[0.012762,-0.046623,0.998831]]
2025-10-27T15:15:45.152Z,1761578145.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664236,0.746637,0.036374],[-0.747477,-0.663947,-0.021271],[0.008269,-0.041318,0.999112]]
2025-10-27T15:15:45.559Z,1761578145.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641339,0.766401,0.036245],[-0.767237,-0.640952,-0.022980],[0.005620,-0.042546,0.999079]]
2025-10-27T15:15:45.575Z,1761578145.575 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      +127.35,     +26   -163.99,  20.00,914.48
2025-10-27T15:15:45.958Z,1761578145.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620961,0.782636,0.043446],[-0.783828,-0.620317,-0.028637],[0.004538,-0.051837,0.998645]]
2025-10-27T15:15:46.361Z,1761578146.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602608,0.796665,0.046785],[-0.798023,-0.601912,-0.029345],[0.004783,-0.055019,0.998474]]
2025-10-27T15:15:46.776Z,1761578146.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589021,0.807127,0.039999],[-0.808088,-0.588703,-0.020557],[0.006956,-0.044431,0.998988]]
2025-10-27T15:15:47.171Z,1761578147.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578444,0.814950,0.035489],[-0.815661,-0.578387,-0.012907],[0.010008,-0.036414,0.999287]]
2025-10-27T15:15:47.586Z,1761578147.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570943,0.820228,0.035359],[-0.820874,-0.571057,-0.007765],[0.013823,-0.033459,0.999345]]
2025-10-27T15:15:47.984Z,1761578147.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566274,0.823303,0.038795],[-0.824025,-0.566531,-0.005070],[0.017804,-0.034839,0.999234]]
2025-10-27T15:15:48.382Z,1761578148.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564267,0.824448,0.043452],[-0.825314,-0.564661,-0.003750],[0.021444,-0.037977,0.999049]]
2025-10-27T15:15:48.809Z,1761578148.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565231,0.823495,0.048686],[-0.824566,-0.565754,-0.003591],[0.024587,-0.042174,0.998808]]
2025-10-27T15:15:49.190Z,1761578149.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569405,0.820291,0.053860],[-0.821607,-0.570038,-0.004260],[0.027208,-0.046677,0.998539]]
2025-10-27T15:15:49.610Z,1761578149.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576241,0.815281,0.057118],[-0.816766,-0.576948,-0.004883],[0.028973,-0.049466,0.998356]]
2025-10-27T15:15:49.998Z,1761578149.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586113,0.808220,0.057024],[-0.809666,-0.586876,-0.004043],[0.030198,-0.048540,0.998365]]
2025-10-27T15:15:50.404Z,1761578150.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598528,0.799253,0.054387],[-0.800502,-0.599327,-0.001995],[0.031001,-0.044731,0.998518]]
2025-10-27T15:15:50.809Z,1761578150.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613176,0.788338,0.050375],[-0.789311,-0.613993,0.000935],[0.031667,-0.039188,0.998730]]
2025-10-27T15:15:51.219Z,1761578151.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629795,0.775410,0.045789],[-0.776078,-0.630619,0.004776],[0.032579,-0.032528,0.998940]]
2025-10-27T15:15:51.640Z,1761578151.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647680,0.760726,0.042514],[-0.761144,-0.648524,0.008744],[0.034223,-0.026696,0.999058]]
2025-10-27T15:15:52.019Z,1761578152.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666112,0.744725,0.040986],[-0.744947,-0.667005,0.012610],[0.036729,-0.022132,0.999080]]
2025-10-27T15:15:52.422Z,1761578152.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684791,0.727548,0.041649],[-0.727641,-0.685778,0.015730],[0.040006,-0.019534,0.999009]]
2025-10-27T15:15:52.829Z,1761578152.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702734,0.710057,0.044549],[-0.710076,-0.703891,0.018147],[0.044243,-0.018881,0.998842]]
2025-10-27T15:15:53.230Z,1761578153.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719966,0.692182,0.050330],[-0.692257,-0.721408,0.018759],[0.049293,-0.021335,0.998556]]
2025-10-27T15:15:54.038Z,1761578154.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749149,0.658476,0.072009],[-0.659685,-0.751490,0.008835],[0.059932,-0.040884,0.997365]]
2025-10-27T15:15:54.442Z,1761578154.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760914,0.644650,0.073734],[-0.645489,-0.763622,0.015014],[0.065983,-0.036170,0.997165]]
2025-10-27T15:15:54.853Z,1761578154.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769748,0.633706,0.076843],[-0.634312,-0.772834,0.019384],[0.071671,-0.033821,0.996855]]
2025-10-27T15:15:55.251Z,1761578155.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775350,0.626267,0.081378],[-0.626838,-0.778852,0.021506],[0.076850,-0.034336,0.996451]]
2025-10-27T15:15:55.712Z,1761578155.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777819,0.622292,0.088033],[-0.623164,-0.781821,0.020583],[0.081635,-0.038849,0.995905]]
2025-10-27T15:15:56.058Z,1761578156.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776618,0.622334,0.097796],[-0.624103,-0.781196,0.015087],[0.085788,-0.049318,0.995092]]
2025-10-27T15:15:56.464Z,1761578156.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771798,0.626451,0.109027],[-0.629672,-0.776837,0.006151],[0.088549,-0.063904,0.994020]]
2025-10-27T15:15:56.866Z,1761578156.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763557,0.634898,0.117834],[-0.639549,-0.768748,-0.002167],[0.089209,-0.077015,0.993031]]
2025-10-27T15:15:57.282Z,1761578157.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751887,0.648108,0.120925],[-0.653522,-0.756876,-0.006926],[0.087036,-0.084235,0.992638]]
2025-10-27T15:15:58.090Z,1761578158.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719533,0.686305,0.106106],[-0.690484,-0.723338,-0.003732],[0.074190,-0.075950,0.994348]]
2025-10-27T15:15:58.495Z,1761578158.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699999,0.707891,0.094298],[-0.711134,-0.703056,-0.001129],[0.065498,-0.067849,0.995543]]
2025-10-27T15:15:58.898Z,1761578158.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678798,0.729554,0.083575],[-0.732154,-0.681139,-0.000683],[0.056428,-0.061653,0.996501]]
2025-10-27T15:15:59.303Z,1761578159.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656846,0.750231,0.075549],[-0.752512,-0.658574,-0.002674],[0.047748,-0.058607,0.997139]]
2025-10-27T15:15:59.750Z,1761578159.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634552,0.769702,0.070021],[-0.771851,-0.635776,-0.006023],[0.039882,-0.057868,0.997527]]
2025-10-27T15:16:00.514Z,1761578160.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592915,0.802760,0.063468],[-0.804777,-0.593455,-0.012023],[0.028013,-0.058206,0.997911]]
2025-10-27T15:16:00.918Z,1761578160.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574662,0.816073,0.061547],[-0.818032,-0.575010,-0.013674],[0.024232,-0.058205,0.998011]]
2025-10-27T15:16:01.322Z,1761578161.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558418,0.827210,0.062398],[-0.829280,-0.558601,-0.016093],[0.021544,-0.060732,0.997922]]
2025-10-27T15:16:01.784Z,1761578161.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544613,0.836611,0.058981],[-0.838434,-0.544829,-0.013769],[0.020615,-0.056951,0.998164]]
2025-10-27T15:16:02.131Z,1761578162.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534044,0.844027,0.049138],[-0.845180,-0.534453,-0.005512],[0.021610,-0.044474,0.998777]]
2025-10-27T15:16:02.534Z,1761578162.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526503,0.849222,0.040216],[-0.849831,-0.527043,0.003436],[0.024113,-0.032368,0.999185]]
2025-10-27T15:16:02.938Z,1761578162.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521662,0.852455,0.034481],[-0.852686,-0.522287,0.011964],[0.028207,-0.023161,0.999334]]
2025-10-27T15:16:03.342Z,1761578163.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519588,0.853755,0.033632],[-0.853752,-0.520334,0.018992],[0.033714,-0.018845,0.999254]]
2025-10-27T15:16:03.802Z,1761578163.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520430,0.853070,0.037738],[-0.852952,-0.521428,0.024200],[0.040322,-0.019594,0.998995]]
2025-10-27T15:16:04.150Z,1761578164.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523980,0.850512,0.045542],[-0.850398,-0.525402,0.027853],[0.047617,-0.024135,0.998574]]
2025-10-27T15:16:04.554Z,1761578164.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530481,0.845861,0.055760],[-0.845896,-0.532493,0.030187],[0.055226,-0.031153,0.997988]]
2025-10-27T15:16:05.362Z,1761578165.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551114,0.830631,0.079535],[-0.831505,-0.554655,0.030925],[0.069801,-0.049091,0.996352]]
2025-10-27T15:16:05.789Z,1761578165.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565297,0.819980,0.089845],[-0.821361,-0.569593,0.030511],[0.076193,-0.056547,0.995488]]
2025-10-27T15:16:06.170Z,1761578166.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581677,0.807564,0.097427],[-0.809298,-0.586606,0.030504],[0.081785,-0.061104,0.994775]]
2025-10-27T15:16:06.997Z,1761578166.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618924,0.779010,0.100382],[-0.780363,-0.624395,0.034124],[0.089261,-0.057214,0.994364]]
2025-10-27T15:16:07.381Z,1761578167.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639074,0.763032,0.096785],[-0.763673,-0.644467,0.038289],[0.091591,-0.049443,0.994569]]
2025-10-27T15:16:07.786Z,1761578167.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659321,0.746243,0.091743],[-0.746063,-0.664473,0.043199],[0.093198,-0.039964,0.994845]]
2025-10-27T15:16:08.191Z,1761578168.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678845,0.729045,0.087539],[-0.728219,-0.683726,0.047062],[0.094162,-0.031800,0.995049]]
2025-10-27T15:16:08.594Z,1761578168.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697028,0.711741,0.087047],[-0.710775,-0.701841,0.047095],[0.094612,-0.029044,0.995090]]
2025-10-27T15:16:08.998Z,1761578168.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712964,0.695950,0.085649],[-0.694733,-0.717650,0.048217],[0.095023,-0.025126,0.995158]]
2025-10-27T15:16:09.402Z,1761578169.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726877,0.681351,0.086085],[-0.680121,-0.731562,0.047465],[0.095317,-0.024047,0.995156]]
2025-10-27T15:16:09.807Z,1761578169.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738283,0.668444,0.090118],[-0.667690,-0.743212,0.042735],[0.095543,-0.028620,0.995014]]
2025-10-27T15:16:10.210Z,1761578170.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746581,0.658080,0.097712],[-0.658433,-0.751908,0.033182],[0.095307,-0.039564,0.994661]]
2025-10-27T15:16:10.614Z,1761578170.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751305,0.651176,0.107292],[-0.653163,-0.756945,0.020311],[0.094441,-0.054819,0.994020]]
2025-10-27T15:16:11.017Z,1761578171.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752893,0.648008,0.115056],[-0.651647,-0.758484,0.007680],[0.092244,-0.069194,0.993329]]
2025-10-27T15:16:11.826Z,1761578171.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746697,0.655175,0.114846],[-0.660123,-0.751126,-0.006906],[0.081740,-0.080969,0.993359]]
2025-10-27T15:16:12.234Z,1761578172.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739394,0.664752,0.106778],[-0.669187,-0.743051,-0.007944],[0.074061,-0.077328,0.994251]]
2025-10-27T15:16:12.634Z,1761578172.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729356,0.677443,0.095448],[-0.681046,-0.732204,-0.007323],[0.064927,-0.070345,0.995408]]
2025-10-27T15:16:13.039Z,1761578173.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717000,0.691973,0.084167],[-0.694853,-0.719116,-0.007137],[0.055587,-0.063600,0.996426]]
2025-10-27T15:16:13.846Z,1761578173.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686335,0.724073,0.068285],[-0.726289,-0.687280,-0.012247],[0.038063,-0.058000,0.997591]]
2025-10-27T15:16:14.655Z,1761578174.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651045,0.756771,0.058635],[-0.758645,-0.651252,-0.018124],[0.024471,-0.056283,0.998115]]
2025-10-27T15:16:15.057Z,1761578175.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633282,0.772057,0.053684],[-0.773675,-0.633305,-0.018764],[0.019512,-0.053417,0.998382]]
2025-10-27T15:16:15.465Z,1761578175.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616473,0.785802,0.049772],[-0.787223,-0.616367,-0.019283],[0.015525,-0.051069,0.998574]]
2025-10-27T15:16:15.865Z,1761578175.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600882,0.798095,0.044550],[-0.799222,-0.600808,-0.016528],[0.013575,-0.045536,0.998870]]
2025-10-27T15:16:16.272Z,1761578176.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587468,0.808388,0.037278],[-0.809135,-0.587530,-0.010417],[0.013481,-0.036283,0.999251]]
2025-10-27T15:16:16.673Z,1761578176.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576292,0.816674,0.030533],[-0.817103,-0.576485,-0.002941],[0.015200,-0.026644,0.999529]]
2025-10-27T15:16:17.077Z,1761578177.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567714,0.822786,0.026917],[-0.823016,-0.568004,0.004001],[0.018581,-0.019882,0.999630]]
2025-10-27T15:16:17.484Z,1761578177.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561510,0.827036,0.026772],[-0.827142,-0.561905,0.009965],[0.023284,-0.016548,0.999592]]
2025-10-27T15:16:17.886Z,1761578177.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558075,0.829226,0.030600],[-0.829275,-0.558649,0.014655],[0.029247,-0.017197,0.999424]]
2025-10-27T15:16:18.694Z,1761578178.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560885,0.826305,0.051260],[-0.826760,-0.562281,0.017522],[0.043301,-0.032552,0.998532]]
2025-10-27T15:16:19.097Z,1761578179.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567562,0.820833,0.064081],[-0.821766,-0.569561,0.017340],[0.050731,-0.042818,0.997794]]
2025-10-27T15:16:19.510Z,1761578179.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577382,0.812759,0.077796],[-0.814426,-0.580058,0.015594],[0.057801,-0.054355,0.996847]]
2025-10-27T15:16:20.310Z,1761578180.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605493,0.789493,0.100395],[-0.792867,-0.609318,0.009731],[0.068856,-0.073708,0.994900]]
2025-10-27T15:16:20.718Z,1761578180.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623357,0.775152,0.102789],[-0.778612,-0.627431,0.009735],[0.072039,-0.073965,0.994656]]
2025-10-27T15:16:21.117Z,1761578181.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642883,0.759539,0.099004],[-0.762416,-0.646964,0.012625],[0.073641,-0.067366,0.995007]]
2025-10-27T15:16:21.522Z,1761578181.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663555,0.742431,0.092151],[-0.744468,-0.667449,0.016696],[0.073902,-0.057525,0.995605]]
2025-10-27T15:16:21.926Z,1761578181.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684171,0.724325,0.085231],[-0.725637,-0.687782,0.020159],[0.073222,-0.048055,0.996157]]
2025-10-27T15:16:22.331Z,1761578182.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704017,0.705730,0.079403],[-0.706532,-0.707329,0.022321],[0.071916,-0.040386,0.996593]]
2025-10-27T15:16:22.752Z,1761578182.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722136,0.687631,0.075377],[-0.688195,-0.725181,0.022367],[0.070042,-0.035722,0.996904]]
2025-10-27T15:16:23.138Z,1761578183.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738075,0.670734,0.073216],[-0.671283,-0.740918,0.020509],[0.068003,-0.034012,0.997105]]
2025-10-27T15:16:23.542Z,1761578183.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751555,0.655652,0.072705],[-0.656403,-0.754233,0.016390],[0.065582,-0.035406,0.997219]]
2025-10-27T15:16:23.950Z,1761578183.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761721,0.643614,0.074450],[-0.644824,-0.764270,0.009650],[0.063111,-0.040656,0.997178]]
2025-10-27T15:16:24.357Z,1761578184.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772917,0.629417,0.080212],[-0.631948,-0.774966,-0.008310],[0.056931,-0.057112,0.996743]]
2025-10-27T15:16:24.766Z,1761578184.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773520,0.628540,0.081264],[-0.631534,-0.775192,-0.015572],[0.053208,-0.063366,0.996571]]
2025-10-27T15:16:25.163Z,1761578185.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771505,0.631362,0.078495],[-0.634350,-0.772816,-0.018829],[0.048774,-0.064320,0.996737]]
2025-10-27T15:16:25.569Z,1761578185.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767156,0.637325,0.072721],[-0.639947,-0.768195,-0.018553],[0.044040,-0.060771,0.997180]]
2025-10-27T15:16:25.969Z,1761578185.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760265,0.646271,0.065816],[-0.648406,-0.761122,-0.016248],[0.039594,-0.055028,0.997699]]
2025-10-27T15:16:26.370Z,1761578186.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751407,0.657185,0.059119],[-0.658870,-0.752139,-0.013284],[0.035735,-0.048933,0.998163]]
2025-10-27T15:16:26.774Z,1761578186.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740690,0.669668,0.054067],[-0.671040,-0.741344,-0.010687],[0.032926,-0.044197,0.998480]]
2025-10-27T15:16:27.177Z,1761578187.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728358,0.683288,0.051095],[-0.684484,-0.728974,-0.008813],[0.031226,-0.041393,0.998655]]
2025-10-27T15:16:27.588Z,1761578187.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714560,0.697815,0.049573],[-0.698909,-0.715175,-0.007104],[0.030496,-0.039724,0.998745]]
2025-10-27T15:16:27.986Z,1761578187.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700864,0.711618,0.048882],[-0.712625,-0.701529,-0.004759],[0.030906,-0.038170,0.998793]]
2025-10-27T15:16:28.797Z,1761578188.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674743,0.735799,0.057635],[-0.737286,-0.675543,-0.007196],[0.033640,-0.047349,0.998312]]
2025-10-27T15:16:29.203Z,1761578189.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663457,0.745689,0.061415],[-0.747335,-0.664420,-0.006092],[0.036263,-0.049940,0.998094]]
2025-10-27T15:16:29.602Z,1761578189.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654013,0.753610,0.065869],[-0.755459,-0.655176,-0.005055],[0.039346,-0.053067,0.997815]]
2025-10-27T15:16:30.006Z,1761578190.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645987,0.760058,0.070801],[-0.762182,-0.647345,-0.004812],[0.042175,-0.057072,0.997479]]
2025-10-27T15:16:30.410Z,1761578190.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639313,0.765268,0.075123],[-0.767667,-0.640830,-0.004963],[0.044344,-0.060843,0.997162]]
2025-10-27T15:16:30.821Z,1761578190.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635083,0.768527,0.077695],[-0.771053,-0.636758,-0.004077],[0.046339,-0.062496,0.996969]]
2025-10-27T15:16:31.621Z,1761578191.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633382,0.769253,0.084123],[-0.772368,-0.635131,-0.007467],[0.047685,-0.069703,0.996427]]
2025-10-27T15:16:32.026Z,1761578192.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636171,0.766991,0.083736],[-0.770107,-0.637862,-0.008178],[0.047140,-0.069688,0.996454]]
2025-10-27T15:16:32.429Z,1761578192.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641776,0.762695,0.080123],[-0.765515,-0.643377,-0.007340],[0.045952,-0.066046,0.996758]]
2025-10-27T15:16:33.245Z,1761578193.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659086,0.748965,0.068248],[-0.750896,-0.660407,-0.004149],[0.041964,-0.053982,0.997660]]
2025-10-27T15:16:33.642Z,1761578193.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670319,0.739408,0.062842],[-0.740995,-0.671504,-0.002997],[0.039983,-0.048574,0.998019]]
2025-10-27T15:16:34.046Z,1761578194.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682309,0.728688,0.058883],[-0.730071,-0.683365,-0.002951],[0.038088,-0.045002,0.998260]]
2025-10-27T15:16:34.450Z,1761578194.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695027,0.716751,0.056616],[-0.718049,-0.695983,-0.003836],[0.036654,-0.043319,0.998389]]
2025-10-27T15:16:34.858Z,1761578194.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708602,0.703403,0.055737],[-0.704693,-0.709494,-0.005141],[0.035929,-0.042920,0.998432]]
2025-10-27T15:16:35.273Z,1761578195.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722429,0.689201,0.055663],[-0.690518,-0.723286,-0.006471],[0.035801,-0.043111,0.998429]]
2025-10-27T15:16:35.662Z,1761578195.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735846,0.674808,0.056265],[-0.676161,-0.736718,-0.007229],[0.036574,-0.043363,0.998390]]
2025-10-27T15:16:36.067Z,1761578196.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748898,0.660242,0.056851],[-0.661612,-0.749809,-0.007460],[0.037702,-0.043200,0.998355]]
2025-10-27T15:16:36.470Z,1761578196.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761735,0.645272,0.058165],[-0.646693,-0.762711,-0.007790],[0.039336,-0.043549,0.998277]]
2025-10-27T15:16:36.873Z,1761578196.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774164,0.630033,0.061052],[-0.631644,-0.775197,-0.009760],[0.041178,-0.046119,0.998087]]
2025-10-27T15:16:37.298Z,1761578197.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784972,0.616161,0.064536],[-0.618044,-0.786041,-0.012691],[0.042908,-0.049848,0.997835]]
2025-10-27T15:16:37.693Z,1761578197.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794534,0.603864,0.063744],[-0.605535,-0.795766,-0.009162],[0.045193,-0.045879,0.997924]]
2025-10-27T15:16:38.086Z,1761578198.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802676,0.593113,0.062680],[-0.594524,-0.804063,-0.004945],[0.047466,-0.041235,0.998021]]
2025-10-27T15:16:38.490Z,1761578198.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808949,0.584514,0.062807],[-0.585750,-0.810490,-0.001572],[0.049986,-0.038061,0.998024]]
2025-10-27T15:16:38.893Z,1761578198.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813529,0.577932,0.064536],[-0.579152,-0.815219,-0.000255],[0.052464,-0.037584,0.997915]]
2025-10-27T15:16:39.324Z,1761578199.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816387,0.573454,0.068288],[-0.574895,-0.818225,-0.001788],[0.054850,-0.040718,0.997664]]
2025-10-27T15:16:39.720Z,1761578199.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817168,0.571630,0.073998],[-0.573567,-0.819135,-0.006195],[0.057073,-0.047505,0.997239]]
2025-10-27T15:16:40.106Z,1761578200.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815898,0.572552,0.080586],[-0.575205,-0.817913,-0.012550],[0.058727,-0.056593,0.996669]]
2025-10-27T15:16:40.510Z,1761578200.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812707,0.576210,0.086539],[-0.579624,-0.814661,-0.019054],[0.059521,-0.065645,0.996066]]
2025-10-27T15:16:40.913Z,1761578200.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807380,0.583118,0.090061],[-0.587081,-0.809176,-0.023902],[0.058938,-0.072172,0.995649]]
2025-10-27T15:16:41.354Z,1761578201.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799822,0.593355,0.090634],[-0.597512,-0.801434,-0.026139],[0.057128,-0.075061,0.995541]]
2025-10-27T15:16:41.724Z,1761578201.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790375,0.606309,0.087731],[-0.610254,-0.791785,-0.025799],[0.053822,-0.073929,0.995810]]
2025-10-27T15:16:42.125Z,1761578202.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778959,0.621681,0.082067],[-0.625118,-0.780181,-0.023362],[0.049503,-0.069500,0.996353]]
2025-10-27T15:16:42.530Z,1761578202.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766044,0.638477,0.074324],[-0.641238,-0.767096,-0.019416],[0.044617,-0.062533,0.997045]]
2025-10-27T15:16:43.380Z,1761578203.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736189,0.674387,0.056806],[-0.675878,-0.736941,-0.010390],[0.034856,-0.046043,0.998331]]
2025-10-27T15:16:44.145Z,1761578204.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703382,0.709503,0.043120],[-0.710283,-0.703905,-0.004109],[0.027438,-0.033517,0.999061]]
2025-10-27T15:16:44.551Z,1761578204.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688323,0.724213,0.041560],[-0.724957,-0.688781,-0.004348],[0.025477,-0.033122,0.999127]]
2025-10-27T15:16:44.954Z,1761578204.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673507,0.737611,0.048157],[-0.738794,-0.673832,-0.011566],[0.023919,-0.043368,0.998773]]
2025-10-27T15:16:45.764Z,1761578205.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647569,0.760656,0.045363],[-0.761618,-0.647993,-0.006628],[0.024353,-0.038841,0.998949]]
2025-10-27T15:16:46.173Z,1761578206.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640042,0.767600,0.033714],[-0.767873,-0.640566,0.006740],[0.026769,-0.021574,0.999409]]
2025-10-27T15:16:46.570Z,1761578206.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635881,0.771389,0.024806],[-0.771178,-0.636327,0.019293],[0.030667,-0.006861,0.999506]]
2025-10-27T15:16:46.974Z,1761578206.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635091,0.772140,0.021429],[-0.771587,-0.635449,0.029279],[0.036224,0.002060,0.999342]]
2025-10-27T15:16:47.397Z,1761578207.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637284,0.770236,0.024603],[-0.769415,-0.637747,0.035758],[0.043233,0.003859,0.999058]]
2025-10-27T15:16:47.782Z,1761578207.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642334,0.765684,0.033703],[-0.764714,-0.643216,0.038537],[0.051185,-0.001020,0.998689]]
2025-10-27T15:16:48.198Z,1761578208.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649804,0.758648,0.046978],[-0.757770,-0.651410,0.038073],[0.059486,-0.010859,0.998170]]
2025-10-27T15:16:48.589Z,1761578208.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659536,0.749118,0.061927],[-0.748643,-0.662034,0.035280],[0.067427,-0.023093,0.997457]]
2025-10-27T15:16:48.994Z,1761578208.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671457,0.737121,0.076150],[-0.737272,-0.674857,0.031591],[0.074676,-0.034931,0.996596]]
2025-10-27T15:16:49.402Z,1761578209.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685297,0.722842,0.088697],[-0.723751,-0.689518,0.027380],[0.080949,-0.045431,0.995682]]
2025-10-27T15:16:49.803Z,1761578209.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700083,0.707288,0.098116],[-0.708912,-0.704914,0.023242],[0.085603,-0.053284,0.994904]]
2025-10-27T15:16:50.207Z,1761578210.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715929,0.690333,0.104338],[-0.692468,-0.721170,0.020027],[0.089071,-0.057913,0.994340]]
2025-10-27T15:16:50.609Z,1761578210.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731798,0.672932,0.107861],[-0.675384,-0.737260,0.017440],[0.091257,-0.060085,0.994013]]
2025-10-27T15:16:51.013Z,1761578211.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746678,0.656106,0.109529],[-0.658781,-0.752189,0.014771],[0.092078,-0.061127,0.993874]]
2025-10-27T15:16:51.420Z,1761578211.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760343,0.640263,0.109281],[-0.643000,-0.765761,0.012695],[0.091812,-0.060615,0.993930]]
2025-10-27T15:16:51.824Z,1761578211.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772568,0.625856,0.106972],[-0.628410,-0.777788,0.012097],[0.090772,-0.057877,0.994188]]
2025-10-27T15:16:52.226Z,1761578212.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782994,0.613062,0.105238],[-0.615691,-0.787934,0.009221],[0.088574,-0.057574,0.994404]]
2025-10-27T15:16:52.630Z,1761578212.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791368,0.602432,0.103981],[-0.605349,-0.795948,0.004330],[0.085372,-0.059519,0.994570]]
2025-10-27T15:16:53.035Z,1761578213.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797349,0.594794,0.102244],[-0.598000,-0.801496,-0.000876],[0.081427,-0.061840,0.994759]]
2025-10-27T15:16:53.437Z,1761578213.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800871,0.590583,0.099087],[-0.593917,-0.804509,-0.005264],[0.076608,-0.063066,0.995065]]
2025-10-27T15:16:53.842Z,1761578213.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801899,0.589973,0.094284],[-0.593256,-0.804967,-0.008726],[0.070748,-0.062932,0.995507]]
2025-10-27T15:16:54.652Z,1761578214.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795979,0.599887,0.080957],[-0.602568,-0.797985,-0.011494],[0.057707,-0.057931,0.996651]]
2025-10-27T15:16:55.055Z,1761578215.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789671,0.609165,0.073060],[-0.611401,-0.791243,-0.011062],[0.051070,-0.053405,0.997266]]
2025-10-27T15:16:55.457Z,1761578215.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781092,0.620951,0.065687],[-0.622818,-0.782292,-0.010856],[0.044645,-0.049391,0.997781]]
2025-10-27T15:16:55.862Z,1761578215.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770611,0.634547,0.059242],[-0.636110,-0.771526,-0.010530],[0.039024,-0.045799,0.998188]]
2025-10-27T15:16:56.680Z,1761578216.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744872,0.665425,0.048731],[-0.666514,-0.745440,-0.008883],[0.030415,-0.039097,0.998772]]
2025-10-27T15:16:57.074Z,1761578217.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730449,0.681483,0.045010],[-0.682396,-0.730946,-0.007294],[0.027929,-0.036042,0.998960]]
2025-10-27T15:16:57.478Z,1761578217.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715865,0.696916,0.042949],[-0.697734,-0.716331,-0.006088],[0.026523,-0.034326,0.999059]]
2025-10-27T15:16:57.882Z,1761578217.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701710,0.711318,0.040373],[-0.711961,-0.702215,-0.002283],[0.026727,-0.030346,0.999182]]
2025-10-27T15:16:58.287Z,1761578218.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689022,0.723695,0.038926],[-0.724184,-0.689603,0.002149],[0.028399,-0.026708,0.999240]]
2025-10-27T15:16:58.690Z,1761578218.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677890,0.734088,0.039745],[-0.734495,-0.678588,0.005952],[0.031340,-0.025158,0.999192]]
2025-10-27T15:16:59.094Z,1761578219.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668590,0.742399,0.042788],[-0.742786,-0.669466,0.009168],[0.035451,-0.025653,0.999042]]
2025-10-27T15:16:59.498Z,1761578219.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661815,0.748128,0.048016],[-0.748571,-0.662953,0.011640],[0.040540,-0.028240,0.998779]]
2025-10-27T15:16:59.904Z,1761578219.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657805,0.751132,0.055617],[-0.751775,-0.659300,0.012594],[0.046128,-0.033527,0.998373]]
2025-10-27T15:17:00.710Z,1761578220.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658335,0.749275,0.071985],[-0.750495,-0.660732,0.013803],[0.057905,-0.044937,0.997310]]
2025-10-27T15:17:01.114Z,1761578221.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663355,0.744406,0.076284],[-0.745671,-0.666122,0.016003],[0.062727,-0.046267,0.996958]]
2025-10-27T15:17:01.519Z,1761578221.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671841,0.736623,0.077564],[-0.737688,-0.674861,0.019455],[0.066676,-0.044147,0.996798]]
2025-10-27T15:17:01.922Z,1761578221.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682998,0.726411,0.076426],[-0.727096,-0.686129,0.023645],[0.069614,-0.039419,0.996795]]
2025-10-27T15:17:02.326Z,1761578222.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696168,0.713984,0.074678],[-0.714297,-0.699315,0.027174],[0.071625,-0.034425,0.996837]]
2025-10-27T15:17:02.734Z,1761578222.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710579,0.699654,0.074580],[-0.699796,-0.713771,0.028586],[0.073234,-0.031878,0.996805]]
2025-10-27T15:17:03.138Z,1761578223.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725308,0.684104,0.077008],[-0.684389,-0.728625,0.026782],[0.074432,-0.033278,0.996671]]
2025-10-27T15:17:03.538Z,1761578223.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739502,0.668181,0.081681],[-0.668961,-0.742988,0.021452],[0.075022,-0.038778,0.996428]]
2025-10-27T15:17:03.941Z,1761578223.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752788,0.652299,0.088404],[-0.653948,-0.756431,0.012839],[0.075246,-0.048147,0.996002]]
2025-10-27T15:17:04.346Z,1761578224.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764683,0.637505,0.094058],[-0.640041,-0.768330,0.004099],[0.074881,-0.057066,0.995558]]
2025-10-27T15:17:05.164Z,1761578225.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782267,0.614772,0.100567],[-0.618877,-0.785382,-0.012882],[0.071064,-0.072316,0.994847]]
2025-10-27T15:17:05.557Z,1761578225.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787362,0.608475,0.099090],[-0.612811,-0.790022,-0.018119],[0.067259,-0.074990,0.994913]]
2025-10-27T15:17:05.967Z,1761578225.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789334,0.606777,0.093670],[-0.610828,-0.791509,-0.020046],[0.061977,-0.073039,0.995401]]
2025-10-27T15:17:06.371Z,1761578226.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788337,0.609397,0.084616],[-0.612752,-0.790048,-0.018939],[0.055309,-0.066779,0.996234]]
2025-10-27T15:17:06.772Z,1761578226.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784289,0.615961,0.074047],[-0.618556,-0.785559,-0.016922],[0.047744,-0.059074,0.997111]]
2025-10-27T15:17:07.174Z,1761578227.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777535,0.625575,0.063997],[-0.627565,-0.778407,-0.015648],[0.040027,-0.052329,0.997827]]
2025-10-27T15:17:07.578Z,1761578227.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767450,0.638568,0.057015],[-0.640288,-0.767929,-0.017787],[0.032425,-0.050157,0.998215]]
2025-10-27T15:17:07.982Z,1761578227.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754702,0.653906,0.053213],[-0.655572,-0.754800,-0.022426],[0.025501,-0.051810,0.998331]]
2025-10-27T15:17:09.198Z,1761578229.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702153,0.710602,0.045012],[-0.711983,-0.701402,-0.033392],[0.007843,-0.055494,0.998428]]
2025-10-27T15:17:09.603Z,1761578229.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662301,0.748385,0.035740],[-0.749236,-0.661655,-0.029287],[0.001729,-0.046174,0.998932]]
2025-10-27T15:17:10.011Z,1761578230.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642838,0.765404,0.030276],[-0.766002,-0.642386,-0.024103],[0.001001,-0.038686,0.999251]]
2025-10-27T15:17:10.422Z,1761578230.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625639,0.779740,0.024093],[-0.780109,-0.625434,-0.016201],[0.002437,-0.028931,0.999578]]
2025-10-27T15:17:10.815Z,1761578230.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610905,0.791501,0.017914],[-0.791682,-0.610900,-0.006411],[0.005870,-0.018099,0.999819]]
2025-10-27T15:17:11.215Z,1761578231.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599200,0.800474,0.014175],[-0.800520,-0.599295,0.003468],[0.011271,-0.009270,0.999893]]
2025-10-27T15:17:11.622Z,1761578231.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590720,0.806757,0.013920],[-0.806664,-0.590872,0.012755],[0.018515,-0.003694,0.999822]]
2025-10-27T15:17:12.022Z,1761578232.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585868,0.810211,0.017811],[-0.809950,-0.586134,0.020714],[0.027222,-0.002290,0.999627]]
2025-10-27T15:17:12.429Z,1761578232.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585057,0.810547,0.026854],[-0.810142,-0.585639,0.026407],[0.037131,-0.006306,0.999291]]
2025-10-27T15:17:12.841Z,1761578232.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587873,0.807928,0.040726],[-0.807539,-0.589076,0.029488],[0.047815,-0.015553,0.998735]]
2025-10-27T15:17:13.234Z,1761578233.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594448,0.802117,0.056913],[-0.801984,-0.596544,0.030930],[0.058761,-0.027257,0.997900]]
2025-10-27T15:17:13.649Z,1761578233.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604588,0.793380,0.070862],[-0.793541,-0.607635,0.032752],[0.069043,-0.036430,0.996948]]
2025-10-27T15:17:14.041Z,1761578234.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617717,0.782238,0.080806],[-0.782548,-0.621595,0.035178],[0.077746,-0.041505,0.996109]]
2025-10-27T15:17:14.450Z,1761578234.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633631,0.768840,0.086002],[-0.768960,-0.638101,0.039077],[0.084922,-0.041372,0.995528]]
2025-10-27T15:17:14.870Z,1761578234.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651370,0.753735,0.087182],[-0.753372,-0.656130,0.043863],[0.090264,-0.037109,0.995226]]
2025-10-27T15:17:15.662Z,1761578235.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686521,0.721463,0.090444],[-0.720563,-0.691710,0.048229],[0.097356,-0.032060,0.994733]]
2025-10-27T15:17:16.065Z,1761578236.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702137,0.705490,0.096372],[-0.705089,-0.707751,0.044025],[0.099267,-0.037039,0.994371]]
2025-10-27T15:17:16.473Z,1761578236.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715197,0.691553,0.101236],[-0.691734,-0.721097,0.039025],[0.099989,-0.042118,0.994097]]
2025-10-27T15:17:16.898Z,1761578236.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725160,0.680090,0.107798],[-0.681410,-0.731294,0.029825],[0.099115,-0.051827,0.993725]]
2025-10-27T15:17:17.278Z,1761578237.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731944,0.671800,0.113764],[-0.674496,-0.738042,0.018665],[0.096502,-0.063072,0.993332]]
2025-10-27T15:17:17.682Z,1761578237.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735019,0.667701,0.117996],[-0.671777,-0.740721,0.006877],[0.091994,-0.074212,0.992990]]
2025-10-27T15:17:18.086Z,1761578238.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734213,0.668496,0.118512],[-0.673547,-0.739136,-0.003523],[0.085242,-0.082410,0.992946]]
2025-10-27T15:17:18.499Z,1761578238.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729798,0.674114,0.113869],[-0.679375,-0.733716,-0.010523],[0.076454,-0.085039,0.993440]]
2025-10-27T15:17:18.924Z,1761578238.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721688,0.684358,0.104021],[-0.689088,-0.724542,-0.014034],[0.065763,-0.081808,0.994476]]
2025-10-27T15:17:19.702Z,1761578239.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695768,0.714388,0.074536],[-0.717057,-0.696867,-0.014380],[0.041668,-0.063452,0.997115]]
2025-10-27T15:17:20.114Z,1761578240.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678281,0.732312,0.060454],[-0.734167,-0.678819,-0.014285],[0.030576,-0.054072,0.998069]]
2025-10-27T15:17:20.510Z,1761578240.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658531,0.750956,0.049005],[-0.752254,-0.658708,-0.014748],[0.021206,-0.046576,0.998690]]
2025-10-27T15:17:20.542Z,1761578240.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T15:17:20.724Z,1761578240.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T15:17:20.725Z,1761578240.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T15:17:20.953Z,1761578240.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637297,0.769596,0.039684],[-0.770493,-0.637276,-0.014805],[0.013896,-0.040011,0.999103]]
2025-10-27T15:17:20.976Z,1761578240.976 [DAT](INFO): DAT read: user:1019>

2025-10-27T15:17:20.977Z,1761578240.977 [DAT](INFO): DAT read: Tx time:15:17:19.9707

2025-10-27T15:17:20.977Z,1761578240.977 [DAT](INFO): Ping request sent.
2025-10-27T15:17:20.977Z,1761578240.977 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:17:20.977Z,1761578240.977 [DAT](INFO): publishing transmit ping time
2025-10-27T15:17:20.978Z,1761578240.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-27T15:17:21.228Z,1761578241.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250867
2025-10-27T15:17:21.318Z,1761578241.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615585,0.787399,0.032526],[-0.788016,-0.615504,-0.013632],[0.009286,-0.034022,0.999378]]
2025-10-27T15:17:21.480Z,1761578241.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502747
2025-10-27T15:17:21.732Z,1761578241.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755123
2025-10-27T15:17:21.984Z,1761578241.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006673
2025-10-27T15:17:22.134Z,1761578242.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574814,0.818008,0.021262],[-0.818250,-0.574832,-0.005860],[0.007429,-0.020766,0.999757]]
2025-10-27T15:17:22.237Z,1761578242.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260221
2025-10-27T15:17:22.488Z,1761578242.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510644
2025-10-27T15:17:22.529Z,1761578242.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557786,0.829870,0.013781],[-0.829919,-0.557874,0.003317],[0.010441,-0.009587,0.999900]]
2025-10-27T15:17:22.741Z,1761578242.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763520
2025-10-27T15:17:22.986Z,1761578242.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544199,0.838927,0.006965],[-0.838802,-0.544239,0.014639],[0.016072,0.002124,0.999869]]
2025-10-27T15:17:22.992Z,1761578242.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015060
2025-10-27T15:17:23.244Z,1761578243.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266619
2025-10-27T15:17:23.349Z,1761578243.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534471,0.845179,0.003631],[-0.844848,-0.534373,0.026026],[0.023937,0.010843,0.999655]]
2025-10-27T15:17:23.496Z,1761578243.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518660
2025-10-27T15:17:23.749Z,1761578243.749 [DAT](INFO): DAT read: Rx Time:15:17:22.3782

2025-10-27T15:17:23.749Z,1761578243.749 [DAT](INFO): Rx dataTimestamp_ set to:1761578243.748824
2025-10-27T15:17:23.750Z,1761578243.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772797
2025-10-27T15:17:23.774Z,1761578243.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528592,0.848855,0.006006],[-0.848212,-0.528444,0.035822],[0.033582,0.013841,0.999340]]
2025-10-27T15:17:23.000Z,1761578244.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022701
2025-10-27T15:17:24.154Z,1761578244.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527015,0.849732,0.014522],[-0.848691,-0.527110,0.043348],[0.044489,0.010520,0.998954]]
2025-10-27T15:17:24.253Z,1761578244.253 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.0 m/s

2025-10-27T15:17:24.254Z,1761578244.254 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T15:17:24.566Z,1761578244.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529676,0.847687,0.029487],[-0.846343,-0.530496,0.047717],[0.056092,0.000319,0.998426]]
2025-10-27T15:17:25.004Z,1761578245.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536540,0.842437,0.049244],[-0.841144,-0.538583,0.049039],[0.067834,-0.015110,0.997582]]
2025-10-27T15:17:25.365Z,1761578245.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547590,0.833731,0.070975],[-0.832963,-0.551207,0.048415],[0.079488,-0.032608,0.996302]]
2025-10-27T15:17:25.774Z,1761578245.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562323,0.821798,0.091869],[-0.822008,-0.567612,0.046028],[0.089972,-0.049634,0.994707]]
2025-10-27T15:17:26.174Z,1761578246.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580357,0.807460,0.105800],[-0.808422,-0.586904,0.044694],[0.098183,-0.059592,0.993383]]
2025-10-27T15:17:26.585Z,1761578246.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601689,0.791177,0.109589],[-0.791954,-0.608777,0.046900],[0.103822,-0.058570,0.992870]]
2025-10-27T15:17:27.387Z,1761578247.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649148,0.754313,0.098074],[-0.752859,-0.655547,0.058834],[0.108671,-0.035644,0.993438]]
2025-10-27T15:17:27.791Z,1761578247.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672547,0.734375,0.091515],[-0.732003,-0.678315,0.063721],[0.108871,-0.024134,0.993763]]
2025-10-27T15:17:28.607Z,1761578248.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712578,0.695875,0.089389],[-0.693492,-0.717916,0.060544],[0.106304,-0.018848,0.994155]]
2025-10-27T15:17:29.010Z,1761578249.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727514,0.679596,0.094196],[-0.678183,-0.733104,0.051239],[0.103877,-0.026605,0.994234]]
2025-10-27T15:17:29.407Z,1761578249.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738432,0.666273,0.103913],[-0.666786,-0.744434,0.034839],[0.100569,-0.043562,0.993976]]
2025-10-27T15:17:31.027Z,1761578251.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739339,0.662912,0.118006],[-0.670092,-0.741567,-0.032471],[0.065984,-0.103081,0.992482]]
2025-10-27T15:17:31.426Z,1761578251.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730446,0.675087,0.103469],[-0.681063,-0.731312,-0.036533],[0.051005,-0.097154,0.993962]]
2025-10-27T15:17:31.829Z,1761578251.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718379,0.690503,0.084487],[-0.694767,-0.718278,-0.037081],[0.035081,-0.085337,0.995734]]
2025-10-27T15:17:32.233Z,1761578252.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702885,0.708395,0.064261],[-0.711029,-0.702250,-0.035809],[0.019760,-0.070862,0.997290]]
2025-10-27T15:17:32.644Z,1761578252.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684694,0.727438,0.045044],[-0.728806,-0.683872,-0.034080],[0.006013,-0.056162,0.998404]]
2025-10-27T15:17:33.041Z,1761578253.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664924,0.746386,0.027998],[-0.746893,-0.664182,-0.031826],[-0.005158,-0.042073,0.999101]]
2025-10-27T15:17:33.445Z,1761578253.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644185,0.764751,0.013485],[-0.764754,-0.643680,-0.028749],[-0.013306,-0.028832,0.999496]]
2025-10-27T15:17:33.850Z,1761578253.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623826,0.781561,0.002137],[-0.781345,-0.623584,-0.025350],[-0.018480,-0.017484,0.999676]]
2025-10-27T15:17:34.255Z,1761578254.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605073,0.796161,-0.003786],[-0.795903,-0.604986,-0.023046],[-0.020638,-0.010931,0.999727]]
2025-10-27T15:17:34.657Z,1761578254.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589419,0.807800,-0.006691],[-0.807599,-0.589429,-0.018896],[-0.019208,-0.005734,0.999799]]
2025-10-27T15:17:35.062Z,1761578255.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577894,0.816058,-0.009364],[-0.815986,-0.577968,-0.010907],[-0.014313,0.001338,0.999897]]
2025-10-27T15:17:35.466Z,1761578255.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570527,0.821093,-0.017468],[-0.821256,-0.570540,0.004734],[-0.006079,0.017047,0.999836]]
2025-10-27T15:17:35.871Z,1761578255.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567728,0.823013,-0.018285],[-0.823203,-0.567449,0.018400],[0.004768,0.025499,0.999663]]
2025-10-27T15:17:36.278Z,1761578256.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569176,0.822159,-0.009656],[-0.822031,-0.568760,0.027863],[0.017416,0.023796,0.999565]]
2025-10-27T15:17:36.679Z,1761578256.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574767,0.818278,0.008041],[-0.817726,-0.574697,0.032370],[0.031108,0.012030,0.999444]]
2025-10-27T15:17:37.101Z,1761578257.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583749,0.811279,0.032605],[-0.810694,-0.584606,0.031792],[0.044853,-0.007874,0.998963]]
2025-10-27T15:17:37.485Z,1761578257.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596421,0.800503,0.058965],[-0.800565,-0.598567,0.028508],[0.058115,-0.030203,0.997853]]
2025-10-27T15:17:37.890Z,1761578257.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612741,0.786025,0.081932],[-0.787195,-0.616215,0.024580],[0.069808,-0.049436,0.996335]]
2025-10-27T15:17:38.293Z,1761578258.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631899,0.768686,0.099124],[-0.770966,-0.636520,0.021303],[0.079470,-0.062960,0.994847]]
2025-10-27T15:17:38.699Z,1761578258.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653174,0.749352,0.108789],[-0.752211,-0.658610,0.020276],[0.086844,-0.068589,0.993858]]
2025-10-27T15:17:39.115Z,1761578259.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675710,0.728963,0.109676],[-0.731416,-0.681525,0.023536],[0.091904,-0.064315,0.993689]]
2025-10-27T15:17:39.510Z,1761578259.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698682,0.707856,0.103843],[-0.709086,-0.704441,0.030987],[0.095085,-0.051983,0.994111]]
2025-10-27T15:17:39.914Z,1761578259.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720839,0.686490,0.095510],[-0.686337,-0.726200,0.039680],[0.096599,-0.036949,0.994637]]
2025-10-27T15:17:40.320Z,1761578260.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740863,0.665674,0.089446],[-0.664613,-0.745799,0.045523],[0.097012,-0.025720,0.994951]]
2025-10-27T15:17:40.725Z,1761578260.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757713,0.647337,0.082618],[-0.645337,-0.762085,0.052596],[0.097009,-0.013464,0.995192]]
2025-10-27T15:17:41.126Z,1761578261.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770658,0.631993,0.081671],[-0.629904,-0.774896,0.052503],[0.096468,-0.010983,0.995275]]
2025-10-27T15:17:41.530Z,1761578261.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779454,0.620159,0.088622],[-0.619044,-0.784184,0.042903],[0.096102,-0.021420,0.995141]]
2025-10-27T15:17:41.935Z,1761578261.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783746,0.612557,0.102549],[-0.613664,-0.789199,0.024118],[0.095705,-0.044028,0.994435]]
2025-10-27T15:17:41.941Z,1761578261.941 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T15:17:43.146Z,1761578263.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772391,0.622937,0.123939],[-0.629595,-0.776666,-0.020006],[0.083797,-0.093483,0.992088]]
2025-10-27T15:17:44.357Z,1761578264.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732956,0.675461,0.080798],[-0.678134,-0.734894,-0.008039],[0.053948,-0.060684,0.996698]]
2025-10-27T15:17:44.764Z,1761578264.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713595,0.696727,0.073174],[-0.699085,-0.714969,-0.009914],[0.045410,-0.058230,0.997270]]
2025-10-27T15:17:45.166Z,1761578265.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692257,0.718430,0.068107],[-0.720646,-0.693186,-0.012728],[0.038067,-0.057892,0.997597]]
2025-10-27T15:17:45.974Z,1761578265.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648049,0.759414,0.057643],[-0.761127,-0.648452,-0.013948],[0.026787,-0.052913,0.998240]]
2025-10-27T15:17:46.379Z,1761578266.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626941,0.777315,0.052212],[-0.778720,-0.627253,-0.012209],[0.023260,-0.048313,0.998561]]
2025-10-27T15:17:47.186Z,1761578267.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589924,0.805986,0.048756],[-0.807217,-0.590150,-0.011161],[0.019777,-0.045941,0.998748]]
2025-10-27T15:17:47.593Z,1761578267.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575534,0.816648,0.042959],[-0.817518,-0.575881,-0.005056],[0.020610,-0.038029,0.999064]]
2025-10-27T15:17:47.994Z,1761578267.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564298,0.824666,0.038644],[-0.825262,-0.564749,0.000919],[0.022582,-0.031373,0.999253]]
2025-10-27T15:17:48.399Z,1761578268.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556163,0.830267,0.036594],[-0.830687,-0.556708,0.005977],[0.025335,-0.027074,0.999312]]
2025-10-27T15:17:48.801Z,1761578268.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551542,0.833322,0.037091],[-0.833650,-0.552203,0.009959],[0.028781,-0.025428,0.999262]]
2025-10-27T15:17:49.206Z,1761578269.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550419,0.833874,0.041149],[-0.834247,-0.551260,0.012050],[0.032732,-0.027696,0.999080]]
2025-10-27T15:17:49.612Z,1761578269.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552747,0.831915,0.048878],[-0.832526,-0.553856,0.011962],[0.037023,-0.034080,0.998733]]
2025-10-27T15:17:50.014Z,1761578270.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558913,0.827287,0.056672],[-0.828208,-0.560307,0.011274],[0.041081,-0.040635,0.998329]]
2025-10-27T15:17:50.822Z,1761578270.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582792,0.809994,0.065289],[-0.811237,-0.584606,0.011414],[0.047413,-0.046313,0.997801]]
2025-10-27T15:17:51.226Z,1761578271.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599498,0.797744,0.064861],[-0.798862,-0.601379,0.012799],[0.049216,-0.044142,0.997812]]
2025-10-27T15:17:51.630Z,1761578271.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618934,0.782986,0.062088],[-0.783826,-0.620796,0.015111],[0.050375,-0.039313,0.997956]]
2025-10-27T15:17:52.033Z,1761578272.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639641,0.766442,0.058532],[-0.767001,-0.641416,0.017138],[0.050679,-0.033932,0.998138]]
2025-10-27T15:17:52.442Z,1761578272.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661172,0.748129,0.056156],[-0.748513,-0.662872,0.018136],[0.050792,-0.030042,0.998257]]
2025-10-27T15:17:52.849Z,1761578272.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703703,0.708157,0.057581],[-0.708659,-0.705398,0.014703],[0.051030,-0.030459,0.998233]]
2025-10-27T15:17:53.252Z,1761578273.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723573,0.687503,0.061491],[-0.688322,-0.725336,0.010073],[0.051527,-0.035037,0.998057]]
2025-10-27T15:17:53.654Z,1761578273.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741848,0.667178,0.067336],[-0.668569,-0.743646,0.002500],[0.051742,-0.043164,0.997727]]
2025-10-27T15:17:54.065Z,1761578274.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757754,0.648603,0.071574],[-0.650461,-0.759532,-0.003551],[0.052059,-0.049247,0.997429]]
2025-10-27T15:17:54.460Z,1761578274.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771225,0.632335,0.073242],[-0.634424,-0.772952,-0.007093],[0.052127,-0.051936,0.997289]]
2025-10-27T15:17:54.862Z,1761578274.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781509,0.619530,0.073661],[-0.621773,-0.783132,-0.010147],[0.051400,-0.053731,0.997232]]
2025-10-27T15:17:55.266Z,1761578275.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788459,0.610792,0.072565],[-0.613059,-0.789944,-0.012136],[0.049910,-0.054055,0.997290]]
2025-10-27T15:17:55.670Z,1761578275.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792333,0.606057,0.070018],[-0.608202,-0.793683,-0.012587],[0.047944,-0.052558,0.997466]]
2025-10-27T15:17:56.078Z,1761578276.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793017,0.605508,0.066962],[-0.607492,-0.794227,-0.012542],[0.045588,-0.050625,0.997677]]
2025-10-27T15:17:56.478Z,1761578276.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790159,0.609463,0.064839],[-0.611396,-0.791207,-0.013700],[0.042951,-0.050467,0.997802]]
2025-10-27T15:17:56.882Z,1761578276.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784120,0.617273,0.064271],[-0.619287,-0.784999,-0.016124],[0.040500,-0.052445,0.997802]]
2025-10-27T15:17:57.291Z,1761578277.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774673,0.629085,0.064293],[-0.631226,-0.775366,-0.019013],[0.037890,-0.055312,0.997750]]
2025-10-27T15:17:57.692Z,1761578277.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761967,0.644471,0.063747],[-0.646668,-0.762481,-0.021055],[0.035036,-0.057267,0.997744]]
2025-10-27T15:17:58.094Z,1761578278.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746000,0.663037,0.062174],[-0.665177,-0.746368,-0.021759],[0.031978,-0.057590,0.997828]]
2025-10-27T15:17:58.503Z,1761578278.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727215,0.683834,0.059403],[-0.685800,-0.727490,-0.020899],[0.028923,-0.055937,0.998015]]
2025-10-27T15:17:58.901Z,1761578278.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706145,0.705863,0.055830],[-0.707584,-0.706378,-0.018835],[0.026142,-0.052804,0.998263]]
2025-10-27T15:17:59.311Z,1761578279.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683667,0.727904,0.052496],[-0.729404,-0.683883,-0.016536],[0.023865,-0.049595,0.998484]]
2025-10-27T15:17:59.709Z,1761578279.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660487,0.749149,0.050325],[-0.750506,-0.660702,-0.014610],[0.022305,-0.047419,0.998626]]
2025-10-27T15:18:00.113Z,1761578280.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636952,0.769284,0.049942],[-0.770599,-0.637185,-0.013167],[0.021693,-0.046872,0.998665]]
2025-10-27T15:18:00.536Z,1761578280.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614307,0.787460,0.050338],[-0.788762,-0.614593,-0.011420],[0.021944,-0.046720,0.998667]]
2025-10-27T15:18:00.923Z,1761578280.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592981,0.803472,0.052967],[-0.804888,-0.593334,-0.010486],[0.023002,-0.048850,0.998541]]
2025-10-27T15:18:02.133Z,1761578282.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541699,0.838110,0.064300],[-0.840063,-0.542448,-0.006691],[0.029271,-0.057641,0.997908]]
2025-10-27T15:18:02.562Z,1761578282.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529620,0.845722,0.065252],[-0.847638,-0.530565,-0.003303],[0.031827,-0.057059,0.997863]]
2025-10-27T15:18:02.942Z,1761578282.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521318,0.850864,0.065252],[-0.852656,-0.522473,0.000752],[0.034732,-0.055245,0.997869]]
2025-10-27T15:18:03.358Z,1761578283.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515983,0.854154,0.064664],[-0.855768,-0.517335,0.004980],[0.037707,-0.052768,0.997895]]
2025-10-27T15:18:03.759Z,1761578283.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513574,0.855697,0.063436],[-0.857085,-0.515092,0.009239],[0.040581,-0.049625,0.997943]]
2025-10-27T15:18:04.586Z,1761578284.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516178,0.854313,0.060906],[-0.855271,-0.517923,0.016356],[0.045518,-0.043649,0.998010]]
2025-10-27T15:18:04.963Z,1761578284.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521213,0.851267,0.060672],[-0.852078,-0.523067,0.019052],[0.047954,-0.041767,0.997976]]
2025-10-27T15:18:05.370Z,1761578285.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528180,0.846922,0.061225],[-0.847649,-0.530145,0.020906],[0.050164,-0.040856,0.997905]]
2025-10-27T15:18:05.770Z,1761578285.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536926,0.841314,0.062455],[-0.842016,-0.539005,0.021966],[0.052144,-0.040794,0.997806]]
2025-10-27T15:18:06.174Z,1761578286.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547566,0.834312,0.063989],[-0.835006,-0.549769,0.022792],[0.054194,-0.040951,0.997690]]
2025-10-27T15:18:06.612Z,1761578286.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559511,0.826241,0.065373],[-0.826927,-0.561824,0.023362],[0.056030,-0.040987,0.997587]]
2025-10-27T15:18:06.986Z,1761578286.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572440,0.817254,0.066399],[-0.817923,-0.574837,0.023740],[0.057570,-0.040719,0.997511]]
2025-10-27T15:18:07.387Z,1761578287.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585996,0.807498,0.067498],[-0.808162,-0.588476,0.023888],[0.059011,-0.040551,0.997433]]
2025-10-27T15:18:07.790Z,1761578287.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599420,0.797456,0.068990],[-0.798165,-0.601982,0.023461],[0.060240,-0.041003,0.997342]]
2025-10-27T15:18:08.635Z,1761578288.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625002,0.777081,0.074275],[-0.778110,-0.627792,0.020527],[0.062580,-0.044965,0.997026]]
2025-10-27T15:18:09.002Z,1761578289.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637003,0.766864,0.078402],[-0.768253,-0.639915,0.017198],[0.063359,-0.049278,0.996773]]
2025-10-27T15:18:09.407Z,1761578289.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647611,0.757635,0.081173],[-0.759270,-0.650605,0.014907],[0.064105,-0.051978,0.996589]]
2025-10-27T15:18:10.222Z,1761578290.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664675,0.742601,0.082160],[-0.744343,-0.667671,0.012996],[0.064507,-0.052517,0.996534]]
2025-10-27T15:18:10.654Z,1761578290.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669830,0.737943,0.082268],[-0.739756,-0.672775,0.011648],[0.063943,-0.053056,0.996542]]
2025-10-27T15:18:11.033Z,1761578291.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672925,0.735144,0.082064],[-0.737038,-0.675777,0.010017],[0.062821,-0.053743,0.996577]]
2025-10-27T15:18:11.434Z,1761578291.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673903,0.734291,0.081682],[-0.736286,-0.676623,0.007992],[0.061137,-0.054756,0.996626]]
2025-10-27T15:18:12.237Z,1761578292.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668860,0.739016,0.080506],[-0.741267,-0.671204,0.002810],[0.056113,-0.057797,0.996750]]
2025-10-27T15:18:12.649Z,1761578292.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663198,0.744248,0.079145],[-0.746591,-0.665283,-0.000029],[0.052632,-0.059108,0.996863]]
2025-10-27T15:18:13.046Z,1761578293.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655353,0.751393,0.076951],[-0.753773,-0.657129,-0.002928],[0.048367,-0.059922,0.997031]]
2025-10-27T15:18:13.446Z,1761578293.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645898,0.759857,0.073713],[-0.762160,-0.647369,-0.005015],[0.043909,-0.059420,0.997267]]
2025-10-27T15:18:13.849Z,1761578293.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635001,0.769413,0.069111],[-0.771529,-0.636161,-0.006527],[0.038944,-0.057466,0.997588]]
2025-10-27T15:18:14.254Z,1761578294.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623139,0.779507,0.063766],[-0.781369,-0.624026,-0.007353],[0.034060,-0.054406,0.997938]]
2025-10-27T15:18:15.062Z,1761578295.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598854,0.798965,0.055034],[-0.800438,-0.599351,-0.008832],[0.025929,-0.049341,0.998445]]
2025-10-27T15:18:15.467Z,1761578295.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586974,0.807863,0.053088],[-0.809274,-0.587347,-0.009922],[0.023165,-0.048787,0.998541]]
2025-10-27T15:18:15.870Z,1761578295.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576161,0.815680,0.051998],[-0.817059,-0.576455,-0.010681],[0.021262,-0.048640,0.998590]]
2025-10-27T15:18:16.281Z,1761578296.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566716,0.822329,0.051069],[-0.823662,-0.566984,-0.010486],[0.020333,-0.048006,0.998640]]
2025-10-27T15:18:16.678Z,1761578296.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558569,0.827822,0.052070],[-0.829217,-0.558819,-0.011001],[0.019991,-0.049322,0.998583]]
2025-10-27T15:18:17.081Z,1761578297.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551448,0.832387,0.055105],[-0.833954,-0.551710,-0.011728],[0.020639,-0.052423,0.998412]]
2025-10-27T15:18:17.490Z,1761578297.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547337,0.835121,0.054723],[-0.836604,-0.547739,-0.008698],[0.022710,-0.050542,0.998464]]
2025-10-27T15:18:17.892Z,1761578297.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545044,0.836650,0.054253],[-0.838019,-0.545618,-0.004900],[0.025502,-0.048136,0.998515]]
2025-10-27T15:18:18.698Z,1761578298.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547921,0.834783,0.054038],[-0.835892,-0.548882,0.003612],[0.032676,-0.043191,0.998532]]
2025-10-27T15:18:19.102Z,1761578299.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552335,0.831814,0.054879],[-0.832818,-0.553496,0.007481],[0.036599,-0.041572,0.998465]]
2025-10-27T15:18:19.526Z,1761578299.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558595,0.827518,0.056449],[-0.828439,-0.559970,0.011043],[0.040748,-0.040596,0.998344]]
2025-10-27T15:18:19.909Z,1761578299.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566568,0.821923,0.058676],[-0.822783,-0.568177,0.014247],[0.045049,-0.040206,0.998175]]
2025-10-27T15:18:20.313Z,1761578300.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575478,0.815515,0.061325],[-0.816332,-0.577333,0.016992],[0.049263,-0.040283,0.997973]]
2025-10-27T15:18:20.718Z,1761578300.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586228,0.807648,0.063581],[-0.808378,-0.588326,0.019924],[0.053498,-0.039717,0.997778]]
2025-10-27T15:18:21.123Z,1761578301.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598342,0.798550,0.065614],[-0.799180,-0.600668,0.022568],[0.057434,-0.038934,0.997590]]
2025-10-27T15:18:21.158Z,1761578301.158 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-10-27T15:13:21.1Z
2025-10-27T15:18:21.159Z,1761578301.159 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-10-27T15:18:21.159Z,1761578301.159 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-10-27T15:18:21.159Z,1761578301.159 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-10-27T15:18:21.160Z,1761578301.160 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-10-27T15:18:21.540Z,1761578301.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611439,0.788409,0.067485],[-0.788930,-0.613977,0.024926],[0.061086,-0.038000,0.997409]]
2025-10-27T15:18:21.558Z,1761578301.558 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-10-27T15:18:21.558Z,1761578301.558 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-10-27T15:18:21.558Z,1761578301.558 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-10-27T15:18:21.558Z,1761578301.558 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-10-27T15:18:21.558Z,1761578301.558 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-10-27T15:18:21.558Z,1761578301.558 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-10-27T15:18:21.930Z,1761578301.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625194,0.777353,0.069675],[-0.777795,-0.627948,0.026763],[0.064557,-0.037461,0.997211]]
2025-10-27T15:18:21.972Z,1761578301.972 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-10-27T15:18:21.972Z,1761578301.972 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-10-27T15:18:21.972Z,1761578301.972 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-10-27T15:18:21.972Z,1761578301.972 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-10-27T15:18:21.973Z,1761578301.973 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-10-27T15:18:21.973Z,1761578301.973 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-10-27T15:18:21.973Z,1761578301.973 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-10-27T15:18:21.973Z,1761578301.973 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-10-27T15:18:21.973Z,1761578301.973 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-10-27T15:18:21.973Z,1761578301.973 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-10-27T15:18:22.334Z,1761578302.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639043,0.765734,0.072636],[-0.766172,-0.642038,0.027720],[0.067861,-0.037937,0.996973]]
2025-10-27T15:18:22.351Z,1761578302.351 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-10-27T15:18:22.351Z,1761578302.351 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-10-27T15:18:22.351Z,1761578302.351 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-10-27T15:18:22.351Z,1761578302.351 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-10-27T15:18:22.351Z,1761578302.351 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-10-27T15:18:22.351Z,1761578302.351 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-10-27T15:18:22.351Z,1761578302.351 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-10-27T15:18:22.351Z,1761578302.351 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-10-27T15:18:22.352Z,1761578302.352 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-10-27T15:18:22.352Z,1761578302.352 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-27T15:18:22.352Z,1761578302.352 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-10-27T15:18:22.352Z,1761578302.352 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-10-27T15:18:22.352Z,1761578302.352 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-10-27T15:18:22.352Z,1761578302.352 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-10-27T15:18:22.352Z,1761578302.352 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-10-27T15:18:22.352Z,1761578302.352 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-10-27T15:18:22.352Z,1761578302.352 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-10-27T15:18:22.747Z,1761578302.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652068,0.754259,0.076815],[-0.754835,-0.655346,0.027290],[0.070924,-0.040188,0.996672]]
2025-10-27T15:18:22.769Z,1761578302.769 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-10-27T15:18:22.770Z,1761578302.770 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-10-27T15:18:22.770Z,1761578302.770 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-10-27T15:18:22.770Z,1761578302.770 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-10-27T15:18:22.770Z,1761578302.770 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-27T15:18:22.771Z,1761578302.771 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-10-27T15:18:22.771Z,1761578302.771 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-10-27T15:18:22.771Z,1761578302.771 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-10-27T15:18:22.772Z,1761578302.772 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-10-27T15:18:22.772Z,1761578302.772 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-10-27T15:18:22.773Z,1761578302.773 [lineCaptureHoming:Lap:Docked] Stopped
2025-10-27T15:18:22.773Z,1761578302.773 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-10-27T15:18:22.774Z,1761578302.774 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-10-27T15:18:22.774Z,1761578302.774 [lineCaptureHoming:Lap] Stopped
2025-10-27T15:18:22.774Z,1761578302.774 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-10-27T15:18:22.778Z,1761578302.778 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-10-27T15:18:22.778Z,1761578302.778 [MissionManager](INFO): lineCaptureHoming is completed.
2025-10-27T15:18:22.779Z,1761578302.779 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-10-27T15:18:22.779Z,1761578302.779 [lineCaptureHoming] Stopped
2025-10-27T15:18:22.779Z,1761578302.779 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-10-27T15:18:22.779Z,1761578302.779 [lineCaptureHoming:Science] Stopped
2025-10-27T15:18:22.779Z,1761578302.779 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-10-27T15:18:22.779Z,1761578302.779 [lineCaptureHoming:Science:B] Stopped
2025-10-27T15:18:22.779Z,1761578302.779 [lineCaptureHoming:Science:C] Stopped
2025-10-27T15:18:22.779Z,1761578302.779 [lineCaptureHoming:Science:E] Stopped
2025-10-27T15:18:22.780Z,1761578302.780 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-10-27T15:18:22.780Z,1761578302.780 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-10-27T15:18:22.780Z,1761578302.780 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-10-27T15:18:22.780Z,1761578302.780 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-10-27T15:18:22.780Z,1761578302.780 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-10-27T15:18:22.780Z,1761578302.780 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-27T15:18:22.780Z,1761578302.780 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-27T15:18:22.780Z,1761578302.780 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-27T15:18:22.780Z,1761578302.780 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-27T15:18:22.780Z,1761578302.780 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-27T15:18:22.781Z,1761578302.781 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-27T15:18:22.781Z,1761578302.781 [lineCaptureHoming:TrackAC.] Stopped
2025-10-27T15:18:22.781Z,1761578302.781 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-27T15:18:22.900Z,1761578302.900 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-10-27T15:18:23.012Z,1761578303.012 [WetLabsBB2FL](INFO): Powering down
2025-10-27T15:18:23.138Z,1761578303.138 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-10-27T15:18:23.139Z,1761578303.139 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-10-27T15:18:23.141Z,1761578303.141 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-10-27T15:18:23.273Z,1761578303.273 [DAT](INFO): DAT read: user:1020>

2025-10-27T15:18:23.274Z,1761578303.274 [DAT](INFO): DAT read: Tx time:15:18:22.2694

2025-10-27T15:18:23.274Z,1761578303.274 [DAT](INFO): Ping request sent.
2025-10-27T15:18:23.274Z,1761578303.274 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:18:23.275Z,1761578303.275 [DAT](INFO): publishing transmit ping time
2025-10-27T15:18:23.380Z,1761578303.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675456,0.732301,0.086576],[-0.733468,-0.679316,0.023540],[0.076050,-0.047600,0.995967]]
2025-10-27T15:18:24.186Z,1761578304.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692623,0.715377,0.092248],[-0.716899,-0.696850,0.021349],[0.079556,-0.051346,0.995507]]
2025-10-27T15:18:24.590Z,1761578304.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698023,0.709885,0.093949],[-0.711542,-0.702348,0.020373],[0.080447,-0.052628,0.995369]]
2025-10-27T15:18:24.995Z,1761578304.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701316,0.706516,0.094816],[-0.708257,-0.705682,0.019652],[0.080794,-0.053372,0.995301]]
2025-10-27T15:18:25.398Z,1761578305.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701788,0.705894,0.095949],[-0.707914,-0.706096,0.016923],[0.079695,-0.056047,0.995242]]
2025-10-27T15:18:25.540Z,1761578305.540 [DAT](INFO): DAT read: Rx Time:15:18:24.1319

2025-10-27T15:18:25.540Z,1761578305.540 [DAT](INFO): Rx dataTimestamp_ set to:1761578305.540162
2025-10-27T15:18:25.803Z,1761578305.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699447,0.708102,0.096772],[-0.710451,-0.703617,0.013535],[0.077675,-0.059285,0.995215]]
2025-10-27T15:18:26.044Z,1761578306.044 [DAT](INFO): DAT read: OK

2025-10-27T15:18:26.045Z,1761578306.045 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T15:18:26.046Z,1761578306.046 [DAT](INFO): DAT read: user:1021>

2025-10-27T15:18:26.047Z,1761578306.047 [DAT](INFO): DAT read: Tx time:15:18:25.2194

2025-10-27T15:18:26.047Z,1761578306.047 [DAT](INFO): Ping request sent.
2025-10-27T15:18:26.047Z,1761578306.047 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:18:26.048Z,1761578306.048 [DAT](INFO): publishing transmit ping time
2025-10-27T15:18:26.205Z,1761578306.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694361,0.713152,0.096315],[-0.715769,-0.698265,0.010041],[0.074414,-0.061967,0.995300]]
2025-10-27T15:18:26.611Z,1761578306.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686761,0.720746,0.094262],[-0.723493,-0.690296,0.007023],[0.070131,-0.063375,0.995523]]
2025-10-27T15:18:27.013Z,1761578307.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676737,0.730642,0.090497],[-0.733360,-0.679825,0.004609],[0.064890,-0.063247,0.995886]]
2025-10-27T15:18:27.418Z,1761578307.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664872,0.742098,0.085059],[-0.744601,-0.667502,0.003381],[0.059286,-0.061087,0.996370]]
2025-10-27T15:18:27.822Z,1761578307.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651480,0.754596,0.078477],[-0.756793,-0.653649,0.002614],[0.053269,-0.057688,0.996913]]
2025-10-27T15:18:28.227Z,1761578308.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636649,0.767797,0.071873],[-0.769696,-0.638407,0.001954],[0.047385,-0.054076,0.997412]]
2025-10-27T15:18:28.564Z,1761578308.564 [DAT](INFO): DAT read: Rx Time:15:18:27.0820

2025-10-27T15:18:28.564Z,1761578308.564 [DAT](INFO): Rx dataTimestamp_ set to:1761578308.564159
2025-10-27T15:18:28.630Z,1761578308.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621365,0.780782,0.065461],[-0.782383,-0.622795,0.001866],[0.042226,-0.050056,0.997853]]
2025-10-27T15:18:28.978Z,1761578308.978 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-10-27T15:18:28.984Z,1761578308.984 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-10-27T15:18:28.987Z,1761578308.987 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-10-27T15:18:28.990Z,1761578308.990 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-10-27T15:18:28.992Z,1761578308.992 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-10-27T15:18:28.994Z,1761578308.994 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-10-27T15:18:28.997Z,1761578308.997 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-10-27T15:18:28.999Z,1761578308.999 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-10-27T15:18:29.002Z,1761578309.002 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-10-27T15:18:29.034Z,1761578309.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606145,0.793082,0.060086],[-0.794440,-0.607340,0.002071],[0.038135,-0.046480,0.998191]]
2025-10-27T15:18:29.044Z,1761578309.044 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-10-27T15:18:29.046Z,1761578309.046 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-10-27T15:18:29.057Z,1761578309.057 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-10-27T15:18:29.058Z,1761578309.058 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-10-27T15:18:29.068Z,1761578309.068 [DAT](INFO): DAT read: OK

2025-10-27T15:18:29.068Z,1761578309.068 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T15:18:29.069Z,1761578309.069 [DAT](INFO): DAT read: user:1022>

2025-10-27T15:18:29.069Z,1761578309.069 [DAT](INFO): DAT read: Tx time:15:18:28.1694

2025-10-27T15:18:29.070Z,1761578309.070 [DAT](INFO): Ping request sent.
2025-10-27T15:18:29.070Z,1761578309.070 [DAT](INFO): transmitted an acoustic signal
2025-10-27T15:18:29.070Z,1761578309.070 [DAT](INFO): publishing transmit ping time
2025-10-27T15:18:29.096Z,1761578309.096 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-10-27T15:18:29.097Z,1761578309.097 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-10-27T15:18:29.097Z,1761578309.097 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-10-27T15:18:29.098Z,1761578309.098 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-10-27T15:18:29.320Z,1761578309.320 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-10-27T15:18:29.324Z,1761578309.324 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-10-27T15:18:29.326Z,1761578309.326 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-10-27T15:18:29.328Z,1761578309.328 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-10-27T15:18:29.331Z,1761578309.331 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-10-27T15:18:29.332Z,1761578309.332 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-10-27T15:18:29.338Z,1761578309.338 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-10-27T15:18:29.400Z,1761578309.400 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-10-27T15:18:29.416Z,1761578309.416 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-27T15:18:29.417Z,1761578309.417 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-27T15:18:29.418Z,1761578309.418 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-27T15:18:29.438Z,1761578309.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591846,0.804119,0.055775],[-0.805268,-0.592903,0.003050],[0.035522,-0.043109,0.998439]]
2025-10-27T15:18:29.490Z,1761578309.490 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-27T15:18:29.501Z,1761578309.501 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-10-27T15:18:29.508Z,1761578309.508 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-27T15:18:29.510Z,1761578309.510 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-27T15:18:29.510Z,1761578309.510 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-27T15:18:29.516Z,1761578309.516 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-27T15:18:29.666Z,1761578309.666 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-27T15:18:29.670Z,1761578309.670 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-10-27T15:18:29.672Z,1761578309.672 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-10-27T15:18:29.680Z,1761578309.680 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-10-27T15:18:29.682Z,1761578309.682 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-10-27T15:18:29.684Z,1761578309.684 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-27T15:18:29.698Z,1761578309.698 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-27T15:18:29.701Z,1761578309.701 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-10-27T15:18:29.732Z,1761578309.732 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-10-27T15:18:29.732Z,1761578309.732 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-10-27T15:18:29.745Z,1761578309.745 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-10-27T15:18:29.842Z,1761578309.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578489,0.814006,0.052391],[-0.814967,-0.579487,0.004907],[0.034355,-0.039858,0.998615]]
2025-10-27T15:18:30.246Z,1761578310.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567207,0.822000,0.050912],[-0.822847,-0.568220,0.006920],[0.034617,-0.037968,0.998679]]
2025-10-27T15:18:30.651Z,1761578310.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556756,0.828703,0.057225],[-0.829909,-0.557880,0.004541],[0.035687,-0.044963,0.998351]]
2025-10-27T15:18:31.054Z,1761578311.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548458,0.834035,0.059826],[-0.835290,-0.549768,0.006756],[0.038525,-0.046266,0.998186]]
2025-10-27T15:18:31.458Z,1761578311.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543483,0.837605,0.055180],[-0.838328,-0.544954,0.015205],[0.042806,-0.037995,0.998361]]
2025-10-27T15:18:31.589Z,1761578311.589 [DAT](INFO): DAT read: Rx Time:15:18:30.0321

2025-10-27T15:18:31.590Z,1761578311.590 [DAT](INFO): Rx dataTimestamp_ set to:1761578311.589496
2025-10-27T15:18:31.862Z,1761578311.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541228,0.839290,0.051616],[-0.839505,-0.542830,0.023808],[0.048001,-0.030446,0.998383]]
2025-10-27T15:18:32.092Z,1761578312.092 [DAT](INFO): DAT read: OK

2025-10-27T15:18:32.092Z,1761578312.092 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T15:18:32.266Z,1761578312.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541897,0.838912,0.050735],[-0.838717,-0.543666,0.031333],[0.053868,-0.025573,0.998221]]
2025-10-27T15:18:32.670Z,1761578312.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544676,0.836931,0.053615],[-0.836477,-0.546751,0.037003],[0.060283,-0.024693,0.997876]]
2025-10-27T15:18:33.074Z,1761578313.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549307,0.833435,0.060405],[-0.832922,-0.551905,0.040511],[0.067101,-0.028059,0.997352]]
2025-10-27T15:18:33.478Z,1761578313.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555854,0.828377,0.069419],[-0.828011,-0.559133,0.042058],[0.073655,-0.034102,0.996701]]
2025-10-27T15:18:33.882Z,1761578313.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563939,0.821986,0.079442],[-0.821946,-0.567996,0.042253],[0.079854,-0.041469,0.995944]]
2025-10-27T15:18:34.286Z,1761578314.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573951,0.814084,0.088583],[-0.814438,-0.578746,0.041772],[0.085273,-0.048170,0.995192]]
2025-10-27T15:18:34.559Z,1761578314.559 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDepthAvgProfilesChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
        <Aggregate Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-10-27T15:18:34.620Z,1761578314.620 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-10-27T15:18:34.621Z,1761578314.621 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-10-27T15:18:34.624Z,1761578314.624 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-10-27T15:18:34.626Z,1761578314.626 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-10-27T15:18:34.628Z,1761578314.628 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-10-27T15:18:34.630Z,1761578314.630 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-10-27T15:18:34.632Z,1761578314.632 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-10-27T15:18:34.633Z,1761578314.633 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-10-27T15:18:34.636Z,1761578314.636 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-10-27T15:18:34.638Z,1761578314.638 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-10-27T15:18:34.640Z,1761578314.640 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-10-27T15:18:34.642Z,1761578314.642 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-10-27T15:18:34.644Z,1761578314.644 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-10-27T15:18:34.646Z,1761578314.646 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-10-27T15:18:34.648Z,1761578314.648 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-10-27T15:18:34.650Z,1761578314.650 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-27T15:18:34.652Z,1761578314.652 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-27T15:18:34.654Z,1761578314.654 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-27T15:18:34.656Z,1761578314.656 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-27T15:18:34.658Z,1761578314.658 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-10-27T15:18:34.660Z,1761578314.660 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-10-27T15:18:34.662Z,1761578314.662 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-27T15:18:34.664Z,1761578314.664 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-27T15:18:34.666Z,1761578314.666 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-10-27T15:18:34.696Z,1761578314.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585904,0.804681,0.095944],[-0.805382,-0.591325,0.041178],[0.089869,-0.053146,0.994535]]
2025-10-27T15:18:34.705Z,1761578314.705 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-10-27T15:18:34.715Z,1761578314.715 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-10-27T15:18:34.718Z,1761578314.718 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-10-27T15:18:34.733Z,1761578314.733 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-10-27T15:18:34.748Z,1761578314.748 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-10-27T15:18:34.750Z,1761578314.750 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-10-27T15:18:34.778Z,1761578314.778 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-10-27T15:18:34.786Z,1761578314.786 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-10-27T15:18:34.805Z,1761578314.805 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-10-27T15:18:34.813Z,1761578314.813 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-10-27T15:18:34.821Z,1761578314.821 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-10-27T15:18:34.825Z,1761578314.825 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-10-27T15:18:34.829Z,1761578314.829 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-10-27T15:18:34.836Z,1761578314.836 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-10-27T15:18:34.847Z,1761578314.847 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-10-27T15:18:34.858Z,1761578314.858 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-10-27T15:18:34.862Z,1761578314.862 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-10-27T15:18:34.869Z,1761578314.869 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-10-27T15:18:34.883Z,1761578314.883 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-10-27T15:18:34.897Z,1761578314.897 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-10-27T15:18:34.904Z,1761578314.904 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-10-27T15:18:34.906Z,1761578314.906 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-10-27T15:18:34.912Z,1761578314.912 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-10-27T15:18:34.915Z,1761578314.915 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-10-27T15:18:34.917Z,1761578314.917 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-10-27T15:18:34.936Z,1761578314.936 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-10-27T15:18:34.938Z,1761578314.938 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-10-27T15:18:34.945Z,1761578314.945 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-10-27T15:18:34.949Z,1761578314.949 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-10-27T15:18:35.002Z,1761578315.002 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-10-27T15:18:35.032Z,1761578315.032 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/l
2025-10-27T15:18:35.034Z,1761578315.034 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan m
2025-10-27T15:18:35.041Z,1761578315.041 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-10-27T15:18:35.047Z,1761578315.047 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-10-27T15:18:35.050Z,1761578315.050 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-10-27T15:18:35.052Z,1761578315.052 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-10-27T15:18:35.054Z,1761578315.054 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-10-27T15:18:35.065Z,1761578315.065 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-10-27T15:18:35.076Z,1761578315.076 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-10-27T15:18:35.078Z,1761578315.078 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-10-27T15:18:35.094Z,1761578315.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599369,0.794126,0.100603],[-0.795014,-0.605214,0.040845],[0.093322,-0.055500,0.994088]]
2025-10-27T15:18:35.105Z,1761578315.105 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-10-27T15:18:35.116Z,1761578315.116 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-10-27T15:18:35.118Z,1761578315.118 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-10-27T15:18:35.129Z,1761578315.129 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-10-27T15:18:35.140Z,1761578315.140 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-10-27T15:18:35.142Z,1761578315.142 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-10-27T15:18:35.156Z,1761578315.156 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-10-27T15:18:35.159Z,1761578315.159 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-10-27T15:18:35.169Z,1761578315.169 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-10-27T15:18:35.176Z,1761578315.176 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-10-27T15:18:35.178Z,1761578315.178 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-10-27T15:18:35.197Z,1761578315.197 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-10-27T15:18:35.206Z,1761578315.206 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-10-27T15:18:35.214Z,1761578315.214 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-10-27T15:18:35.224Z,1761578315.224 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-10-27T15:18:35.227Z,1761578315.227 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-10-27T15:18:35.248Z,1761578315.248 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-10-27T15:18:35.254Z,1761578315.254 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-10-27T15:18:35.274Z,1761578315.274 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-10-27T15:18:35.295Z,1761578315.295 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-10-27T15:18:35.305Z,1761578315.305 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-10-27T15:18:35.309Z,1761578315.309 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-10-27T15:18:35.323Z,1761578315.323 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-10-27T15:18:35.327Z,1761578315.327 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-10-27T15:18:35.338Z,1761578315.338 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-10-27T15:18:35.360Z,1761578315.360 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-10-27T15:18:35.362Z,1761578315.362 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-10-27T15:18:35.370Z,1761578315.370 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-10-27T15:18:35.372Z,1761578315.372 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-10-27T15:18:35.374Z,1761578315.374 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-10-27T15:18:35.385Z,1761578315.385 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-10-27T15:18:35.392Z,1761578315.392 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-10-27T15:18:35.394Z,1761578315.394 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-10-27T15:18:35.401Z,1761578315.401 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-10-27T15:18:35.404Z,1761578315.404 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-10-27T15:18:35.406Z,1761578315.406 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-10-27T15:18:35.413Z,1761578315.413 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-10-27T15:18:35.416Z,1761578315.416 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-10-27T15:18:35.428Z,1761578315.428 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-10-27T15:18:35.437Z,1761578315.437 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-10-27T15:18:35.453Z,1761578315.453 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-10-27T15:18:35.458Z,1761578315.458 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-10-27T15:18:35.469Z,1761578315.469 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-10-27T15:18:35.474Z,1761578315.474 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-10-27T15:18:35.498Z,1761578315.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614118,0.782518,0.102588],[-0.783395,-0.620174,0.040946],[0.095664,-0.055221,0.993881]]
2025-10-27T15:18:35.512Z,1761578315.512 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-10-27T15:18:35.514Z,1761578315.514 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-10-27T15:18:35.529Z,1761578315.529 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-10-27T15:18:35.544Z,1761578315.544 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-10-27T15:18:35.546Z,1761578315.546 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-27T15:18:35.553Z,1761578315.553 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-27T15:18:35.572Z,1761578315.572 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-10-27T15:18:35.575Z,1761578315.575 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-10-27T15:18:35.582Z,1761578315.582 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-10-27T15:18:35.589Z,1761578315.589 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-27T15:18:35.604Z,1761578315.604 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-27T15:18:35.606Z,1761578315.606 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-10-27T15:18:35.615Z,1761578315.615 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-10-27T15:18:35.630Z,1761578315.630 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-10-27T15:18:35.655Z,1761578315.655 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-10-27T15:18:35.657Z,1761578315.657 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-10-27T15:18:35.665Z,1761578315.665 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-10-27T15:18:35.684Z,1761578315.684 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-10-27T15:18:35.695Z,1761578315.695 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-10-27T15:18:35.698Z,1761578315.698 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-10-27T15:18:35.704Z,1761578315.704 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-10-27T15:18:35.711Z,1761578315.711 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-10-27T15:18:35.713Z,1761578315.713 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-10-27T15:18:35.724Z,1761578315.724 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-10-27T15:18:35.726Z,1761578315.726 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-10-27T15:18:35.733Z,1761578315.733 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-10-27T15:18:35.739Z,1761578315.739 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-10-27T15:18:35.742Z,1761578315.742 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-10-27T15:18:35.809Z,1761578315.809 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T15:18:35.841Z,1761578315.841 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T15:18:35.902Z,1761578315.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629168,0.770464,0.102628],[-0.771201,-0.635257,0.041197],[0.096936,-0.053228,0.993866]]
2025-10-27T15:18:35.936Z,1761578315.936 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T15:18:35.993Z,1761578315.993 [OnDock:science:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T15:18:36.066Z,1761578316.066 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T15:18:36.107Z,1761578316.107 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T15:18:36.129Z,1761578316.129 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T15:18:36.146Z,1761578316.146 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T15:18:36.203Z,1761578316.203 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T15:18:36.238Z,1761578316.238 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T15:18:36.267Z,1761578316.267 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T15:18:36.330Z,1761578316.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644355,0.757909,0.101882],[-0.758469,-0.650394,0.041388],[0.097632,-0.050606,0.993935]]
2025-10-27T15:18:36.355Z,1761578316.355 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T15:18:36.418Z,1761578316.418 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T15:18:36.457Z,1761578316.457 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T15:18:36.534Z,1761578316.534 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T15:18:36.572Z,1761578316.572 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T15:18:36.610Z,1761578316.610 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T15:18:36.652Z,1761578316.652 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T15:18:36.693Z,1761578316.693 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-10-27T15:18:36.728Z,1761578316.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659272,0.745097,0.100950],[-0.745494,-0.665227,0.041362],[0.097973,-0.047989,0.994031]]
2025-10-27T15:18:36.758Z,1761578316.758 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-10-27T15:18:36.765Z,1761578316.765 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-10-27T15:18:36.766Z,1761578316.766 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-10-27T15:18:36.776Z,1761578316.776 [OnDock:N.Docked](DEBUG): Construct.
2025-10-27T15:18:36.776Z,1761578316.776 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-10-27T15:18:36.824Z,1761578316.824 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-10-27T15:18:36.824Z,1761578316.824 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-27T15:18:36.912Z,1761578316.912 [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
    }
  }
}


2025-10-27T15:18:36.912Z,1761578316.912 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-10-27T15:18:37.114Z,1761578317.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673567,0.732190,0.101020],[-0.732631,-0.679462,0.039794],[0.097776,-0.047207,0.994088]]
2025-10-27T15:18:37.190Z,1761578317.190 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-27T15:18:37.195Z,1761578317.195 [DefaultWithUndock] Running Loop=1
2025-10-27T15:18:37.195Z,1761578317.195 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-27T15:18:37.195Z,1761578317.195 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-27T15:18:37.195Z,1761578317.195 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-27T15:18:37.518Z,1761578317.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687167,0.719398,0.101335],[-0.719904,-0.693024,0.038154],[0.097675,-0.046733,0.994121]]
2025-10-27T15:18:37.922Z,1761578317.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699708,0.707262,0.100943],[-0.707747,-0.705489,0.037146],[0.097486,-0.045451,0.994199]]
2025-10-27T15:18:38.327Z,1761578318.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710970,0.696037,0.100270],[-0.696495,-0.716649,0.036171],[0.097035,-0.044121,0.994303]]
2025-10-27T15:18:38.730Z,1761578318.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720950,0.685755,0.099851],[-0.686150,-0.726578,0.035801],[0.097100,-0.042702,0.994358]]
2025-10-27T15:18:39.134Z,1761578319.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729469,0.676805,0.099044],[-0.677051,-0.735042,0.036271],[0.097350,-0.040599,0.994422]]
2025-10-27T15:18:39.538Z,1761578319.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736596,0.669170,0.098174],[-0.669239,-0.742119,0.037124],[0.097699,-0.038357,0.994477]]
2025-10-27T15:18:39.943Z,1761578319.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741718,0.663540,0.097819],[-0.663438,-0.747250,0.038295],[0.098506,-0.036492,0.994467]]
2025-10-27T15:18:40.346Z,1761578320.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745621,0.659262,0.097073],[-0.658843,-0.751168,0.040890],[0.099876,-0.033468,0.994437]]
2025-10-27T15:18:40.750Z,1761578320.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748220,0.656328,0.096960],[-0.655578,-0.753850,0.043898],[0.101905,-0.030719,0.994320]]
2025-10-27T15:18:40.918Z,1761578320.918 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour
2025-10-27T15:18:40.918Z,1761578320.918 [CommandExec](IMPORTANT): got command run
2025-10-27T15:18:40.920Z,1761578320.920 [CommandExec](IMPORTANT): Running 
2025-10-27T15:18:41.200Z,1761578321.200 [DefaultWithUndock] Stopped
2025-10-27T15:18:41.200Z,1761578321.200 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-27T15:18:41.200Z,1761578321.200 [DefaultWithUndock:A.Wait] Stopped
2025-10-27T15:18:41.200Z,1761578321.200 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-27T15:18:41.200Z,1761578321.200 [MissionManager](IMPORTANT): Started mission OnDock
2025-10-27T15:18:41.201Z,1761578321.201 [OnDock] Running Loop=1
2025-10-27T15:18:41.201Z,1761578321.201 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-10-27T15:18:41.201Z,1761578321.201 [OnDock:StandardEnvelopes] Running Loop=1
2025-10-27T15:18:41.201Z,1761578321.201 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-10-27T15:18:41.201Z,1761578321.201 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-27T15:18:41.201Z,1761578321.201 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-27T15:18:41.201Z,1761578321.201 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-27T15:18:41.201Z,1761578321.201 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:BackseatDriver] Running Loop=1
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:PowerOnly] Running Loop=1
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:PowerOnly:A] Running Loop=1
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:PowerOnly:B] Running Loop=1
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:PowerOnly:C] Running Loop=1
2025-10-27T15:18:41.202Z,1761578321.202 [OnDock:PowerOnly:D] Running Loop=1
2025-10-27T15:18:41.203Z,1761578321.203 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-10-27T15:18:41.203Z,1761578321.203 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-27T15:18:41.203Z,1761578321.203 [OnDock:dataRead] Running Loop=1
2025-10-27T15:18:41.203Z,1761578321.203 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-10-27T15:18:41.203Z,1761578321.203 [OnDock:dataRead:A] Running Loop=1
2025-10-27T15:18:41.203Z,1761578321.203 [OnDock:science] Running Loop=1
2025-10-27T15:18:41.203Z,1761578321.203 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science] Running Loop=1
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science:A] Running Loop=1
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science:B] Running Loop=1
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science:C] Running Loop=1
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science:D] Running Loop=1
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science:E] Running Loop=1
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science:F] Running Loop=1
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-10-27T15:18:41.204Z,1761578321.204 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-10-27T15:18:41.205Z,1761578321.204 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-10-27T15:18:41.205Z,1761578321.205 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-10-27T15:18:41.205Z,1761578321.205 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-10-27T15:18:41.205Z,1761578321.205 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-10-27T15:18:41.205Z,1761578321.205 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-10-27T15:18:41.205Z,1761578321.205 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T15:18:41.205Z,1761578321.205 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T15:18:41.206Z,1761578321.206 [OnDock:science:Science:PeakDepthAvgProfilesChl] Running Loop=1
2025-10-27T15:18:41.206Z,1761578321.206 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesChl
2025-10-27T15:18:41.206Z,1761578321.206 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2025-10-27T15:18:41.206Z,1761578321.206 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-10-27T15:18:41.206Z,1761578321.206 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-10-27T15:18:41.206Z,1761578321.206 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-10-27T15:18:41.206Z,1761578321.206 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-10-27T15:18:41.206Z,1761578321.206 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-10-27T15:18:41.206Z,1761578321.206 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-10-27T15:18:41.207Z,1761578321.207 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-10-27T15:18:41.207Z,1761578321.207 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-10-27T15:18:41.207Z,1761578321.207 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T15:18:41.207Z,1761578321.207 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T15:18:41.207Z,1761578321.207 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-10-27T15:18:41.208Z,1761578321.208 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-10-27T15:18:41.208Z,1761578321.208 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-10-27T15:18:41.208Z,1761578321.208 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-10-27T15:18:41.208Z,1761578321.208 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-10-27T15:18:41.208Z,1761578321.208 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-10-27T15:18:41.208Z,1761578321.208 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-10-27T15:18:41.208Z,1761578321.208 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-10-27T15:18:41.208Z,1761578321.208 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T15:18:41.208Z,1761578321.208 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T15:18:41.209Z,1761578321.209 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-27T15:18:41.209Z,1761578321.209 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-10-27T15:18:41.209Z,1761578321.209 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-27T15:18:41.209Z,1761578321.209 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-27T15:18:41.209Z,1761578321.209 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-27T15:18:41.209Z,1761578321.209 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-27T15:18:41.209Z,1761578321.209 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-27T15:18:41.210Z,1761578321.210 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-10-27T15:18:41.210Z,1761578321.210 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-27T15:18:41.210Z,1761578321.210 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-27T15:18:41.210Z,1761578321.210 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-27T15:18:41.210Z,1761578321.210 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-27T15:18:41.210Z,1761578321.210 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-10-27T15:18:41.210Z,1761578321.210 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-10-27T15:18:41.211Z,1761578321.211 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-27T15:18:41.211Z,1761578321.211 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-10-27T15:18:41.211Z,1761578321.211 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-10-27T15:18:41.211Z,1761578321.211 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-27T15:18:41.211Z,1761578321.211 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-27T15:18:41.211Z,1761578321.211 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-27T15:18:41.212Z,1761578321.212 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-27T15:18:41.212Z,1761578321.212 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-27T15:18:41.212Z,1761578321.212 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-27T15:18:41.212Z,1761578321.212 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-27T15:18:41.212Z,1761578321.212 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-10-27T15:18:41.212Z,1761578321.212 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-10-27T15:18:41.212Z,1761578321.212 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-10-27T15:18:41.212Z,1761578321.212 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-10-27T15:18:41.213Z,1761578321.213 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-10-27T15:18:41.213Z,1761578321.213 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-10-27T15:18:41.213Z,1761578321.213 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-10-27T15:18:41.213Z,1761578321.213 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-10-27T15:18:41.213Z,1761578321.213 [OnDock:J.] Running Loop=1
2025-10-27T15:18:41.213Z,1761578321.213 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-10-27T15:18:41.213Z,1761578321.213 [OnDock:PeriodicCheck] Running Loop=1
2025-10-27T15:18:41.213Z,1761578321.213 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-10-27T15:18:41.214Z,1761578321.214 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-10-27T15:18:41.214Z,1761578321.214 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-10-27T15:18:41.214Z,1761578321.214 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-10-27T15:18:41.214Z,1761578321.214 [OnDock:B] Running Loop=1
2025-10-27T15:18:41.214Z,1761578321.214 [OnDock:PeriodicCheck] Running Loop=1
2025-10-27T15:18:41.215Z,1761578321.215 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-10-27T15:18:41.215Z,1761578321.215 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-10-27T15:18:41.215Z,1761578321.215 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-10-27T15:18:41.215Z,1761578321.215 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-10-27T15:18:41.215Z,1761578321.215 [OnDock:J.] Running Loop=1
2025-10-27T15:18:41.219Z,1761578321.219 [OnDock:science] Stopped
2025-10-27T15:18:41.219Z,1761578321.219 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-10-27T15:18:41.219Z,1761578321.219 [OnDock:science:Science] Stopped
2025-10-27T15:18:41.219Z,1761578321.219 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-10-27T15:18:41.219Z,1761578321.219 [OnDock:science:Science:A] Stopped
2025-10-27T15:18:41.219Z,1761578321.219 [OnDock:science:Science:B] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:C] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:D] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:E] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:F] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:Read_Oil] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:OceanCurrent] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:PeakDetectChl] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-10-27T15:18:41.220Z,1761578321.220 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:PeakDepthAvgProfilesChl] Stopped
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDepthAvgProfilesChl
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Stopped
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:PeakDetectOil] Stopped
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-10-27T15:18:41.221Z,1761578321.221 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-10-27T15:18:41.222Z,1761578321.222 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T15:18:41.223Z,1761578321.223 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T15:18:41.223Z,1761578321.223 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-10-27T15:18:41.223Z,1761578321.223 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-10-27T15:18:41.223Z,1761578321.223 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-10-27T15:18:41.223Z,1761578321.223 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-10-27T15:18:41.223Z,1761578321.223 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-27T15:18:41.223Z,1761578321.223 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-10-27T15:18:41.223Z,1761578321.223 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-10-27T15:18:41.223Z,1761578321.223 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-10-27T15:18:41.223Z,1761578321.223 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-27T15:18:41.224Z,1761578321.224 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-10-27T15:18:41.225Z,1761578321.225 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-27T15:18:41.225Z,1761578321.225 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-27T15:18:41.225Z,1761578321.225 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-10-27T15:18:41.225Z,1761578321.225 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-10-27T15:18:41.225Z,1761578321.225 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-10-27T15:18:41.225Z,1761578321.225 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-10-27T15:18:41.225Z,1761578321.225 [OnDock:dataRead] Running Loop=1
2025-10-27T15:18:41.226Z,1761578321.226 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-27T15:18:41.226Z,1761578321.226 [OnDock:PowerOnly] Running Loop=1
2025-10-27T15:18:41.226Z,1761578321.226 [OnDock:PowerOnly:D] Stopped
2025-10-27T15:18:41.226Z,1761578321.226 [OnDock:PowerOnly:C] Stopped
2025-10-27T15:18:41.226Z,1761578321.226 [OnDock:PowerOnly:B] Stopped
2025-10-27T15:18:41.226Z,1761578321.226 [OnDock:PowerOnly:A] Stopped
2025-10-27T15:18:41.226Z,1761578321.226 [OnDock:BackseatDriver] Running Loop=1
2025-10-27T15:18:41.227Z,1761578321.227 [OnDock:B] Stopped
2025-10-27T15:18:41.227Z,1761578321.227 [OnDock:C] Running Loop=1
2025-10-27T15:18:41.227Z,1761578321.227 [OnDock:StandardEnvelopes] Running Loop=1
2025-10-27T15:18:41.227Z,1761578321.227 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-27T15:18:41.228Z,1761578321.228 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-27T15:18:41.228Z,1761578321.228 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-27T15:18:41.240Z,1761578321.240 [CommandExec](IMPORTANT): got command ! ifconfig
2025-10-27T15:18:41.454Z,1761578321.454 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:37  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:8830 errors:0 dropped:0 overruns:0 frame:0
            TX packets:15569 errors:0 dropped:0 overruns:0 carrier:0
            collisions:50 txqueuelen:1000 
            RX bytes:3919475 (3.7 Mb)  TX bytes:2273030 (2.1 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:3066 errors:0 dropped:0 overruns:0 frame:0
            TX packets:3066 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:276349 (269.8 Kb)  TX bytes:276349 (269.8 Kb)
  
  
2025-10-27T15:18:42.198Z,1761578322.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742886,0.660328,0.109944],[-0.659411,-0.750136,0.049734],[0.115313,-0.035551,0.992693]]
2025-10-27T15:18:42.309Z,1761578322.309 [OnDock:C] Stopped
2025-10-27T15:18:42.309Z,1761578322.309 [OnDock:D] Running Loop=1
2025-10-27T15:18:42.581Z,1761578322.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738327,0.664494,0.115413],[-0.663821,-0.746231,0.049814],[0.119226,-0.039834,0.992068]]
2025-10-27T15:18:42.612Z,1761578322.612 [OnDock:D] Stopped
2025-10-27T15:18:42.612Z,1761578322.612 [OnDock:E] Running Loop=1
2025-10-27T15:18:42.986Z,1761578322.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732924,0.669626,0.120094],[-0.669158,-0.741421,0.050230],[0.122675,-0.043547,0.991491]]
2025-10-27T15:18:43.002Z,1761578323.002 [OnDock:E] Stopped
2025-10-27T15:18:43.002Z,1761578323.002 [OnDock:K] Running Loop=1
2025-10-27T15:18:43.391Z,1761578323.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725952,0.676602,0.123301],[-0.676210,-0.734910,0.051459],[0.125433,-0.046021,0.991034]]
2025-10-27T15:18:43.446Z,1761578323.446 [OnDock:K](IMPORTANT): Restarting logs
2025-10-27T15:18:43.446Z,1761578323.446 [OnDock:K] Stopped
2025-10-27T15:18:43.446Z,1761578323.446 [OnDock:L.Execute] Running Loop=1